Proprioception from a neurally controlled lower-extremity prosthesis

摘要: Humans can precisely sense the position, speed, and torque of their body parts. This is known as proprioception essential to human motor control. Although there have been many attempts create human-mechatronic interactions, still no robust, repeatable methodology reflect proprioceptive information from a synthetic device onto nervous system. To address this shortcoming, we present an agonist-antagonist myoneural interface (AMI). The AMI composed (i) surgical construct made up two muscle-tendons-an agonist antagonist-surgically connected in series so that contraction one muscle stretches other (ii) bidirectional efferent-afferent neural control architecture. preserves dynamic relationships exist within native anatomy, thereby allowing signals mechanoreceptors both muscles be communicated central We surgically constructed AMIs residual limb subject with transtibial amputation. Each sends joint two-degree-of-freedom ankle-foot prosthesis provides pertaining movement joint. displayed improved over compared group four subjects having traditional also show natural reflexive behaviors during stair ambulation do not appear cohort In addition, demonstrate system for closed-loop subjects. These results provide framework integrating bionic systems physiology.