Systems for real-time prediction of transitions to rigid and compliant surfaces using myoelectric and kinematic data

An electronic control system for a powered lower limb prosthesis configured to be attached to a subject, the electronic control system comprising:

• a control device for one or more joints of the lower limb prosthesis;
• a plurality of sensors attached to the subject and configured to capture kinematic data and electromyographic (EMG) recordings during at least one gait cycle performed by the subject, each gait cycle comprising at least one of:
• a rigid (R) terrain scenario corresponding to movement or preparation for movement of the subject between a rigid surface and another rigid surface, and a transition (T) terrain scenario corresponding to movement or preparation for movement of the subject between the rigid surface and a non-rigid or compliant surface;
• and
• a controller coupled to the control device, the controller configured to control one or more control settings of the control device during the at least one gait cycle in accordance with instructions stored in a digital memory, the controller configured to:
• process the kinematic data related to motion of the subject, the kinematic data comprising data related to the motion of one or more of a hip joint, a knee joint, and an ankle joint of the subject during the at least one gait cycle performed by the subject,
• process the EMG recordings of one or more of the subject's muscles during the at least one gait cycle,
• perform a classification of the kinematic data and EMG recordings as corresponding to the rigid (R) terrain scenario or the transition (T) terrain scenario in accordance with a subject-specific algorithm,
• predict the subject's intent to move or prepare for movement in accordance with the rigid (R) terrain scenario or the transition (T) terrain scenario based on the classification of the kinematic data and EMG recordings, and
• dynamically modify, in real-time, the one or more control settings of the control device in response to the classification of the kinematic data and EMG recordings.