Continuous neural control of a 2-DOF ankle-foot prosthesis enables dynamic obstacle maneuvers after transtibial amputation

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Abstract
Bionic reconstruction techniques that employ surgical neuroprosthetic interfaces, biomimetic control systems, and powered mechatronics have enabled versatile and biomimetic legged gait without reliance on intrinsic gait controllers. However, relative emphasis has been placed on the emulation of sagittal plane biomechanics while neglecting to provide control over frontal plane mechanics critical for terrain adaptation. Here, we present a 2-degree-of-freedom (DOF) bionic reconstruction at the transtibial amputation level that enables continuous neural control of both sagittal and frontal ankle and subtalar joint mechanics. To demonstrate its capabilities in a case study design, we integrated a 2-DOF robotic ankle-foot device via surface electromyographic electrodes to an individual provisioned with a surgical neuroprosthetic interface that augments residual muscle afferents. The subject was able to neurally control both degrees of freedom to regain nominal gait mechanics during both level-ground walking and continuous cross-slope navigation. Furthermore, the subject strategically traversed an obstacle course by dynamically hopping between a series of discrete cross-slope blocks, adapting to the slopes, and responding to rapid foot slips. These preliminary findings suggest that bionic reconstruction techniques can restore continuous neural control over multi-DOF prostheses to achieve agile locomotion over complex terrain. One-Sentence Summary A multi-DOF ankle-foot prosthesis under continuous neural control enables agile locomotion over complex terrain.

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