Community ambulation is essential for maintaining a healthy lifestyle, but it poses significant challenges for individuals with limb loss due to complex task demands. In wearable robotics, particularly powered prostheses, there is a critical need to accurately estimate environmental context, such as walking speed and slope, to offer intuitive and seamless assistance during varied ambulation tasks. We developed a user-independent and multi-context, intent recognition system that was deployed in real-time on an open-source knee and ankle powered prosthesis (OSL). We recruited 11 individuals with transfemoral amputation, with 7 participants used for real-time validation. Our findings revealed two main conclusions: 1) the user-independent (IND) performance across speed and slope was not statistically different from user-dependent (DEP) models in real-time, and did not degrade compared to its offline counterparts, 2) IND walking speed estimates showed ~0.09 m/s mean absolute error (MAE) and slope estimates showed ~0.95° MAE across multi-context scenarios. Additionally, we provide an open-source dataset to facilitate further research in accurately estimating speed and slope using an IND approach in real-world walking tasks on a powered prosthesis.

Krishan Bhakta

Jairo Maldonado-Contreras

Jonathan Camargo

Sixu Zhou

William Compton

Kinsey Herrin

Aaron Young

Journal of Biomechanical Engineering

Artificial Organs and Prostheses; Bioinstrumentation and Measurements; Bioheat Transfer; Biomaterials; Biomechanics; Bioprocess Engineering; Cellular Mechanics; Design and Control of Biological Systems; Physiological Systems.

The Journal of Biomechanical Engineering covers the following areas: artificial organs and prostheses, bioinstrumentation and measurements, bioheat transfer, biomaterials, biomechanics, bioprocess engineering, cellular mechanics, design and control of biological systems, and physiological systems.

《Journal of Biomechanical Engineering》期刊涵盖了以下领域：人工器官与假肢、生物仪器与测量、生物热传递、生物材料、生物力学、生物过程工程、细胞力学、生物系统的设计与控制以及生理系统。

Category	Quartile
医学	4
医学, 生物物理	3
医学, 工程生物医学	4

Continuous-Context, User-Independent, Real-Time Intent Recognition for Powered Lower-Limb Prostheses

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Journal Info

Category	Quartile
ENGINEERING, BIOMEDICAL	3