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Adaptation en temps réel d’un système prothétique pour personnes amputées transfémorales

Abstract : Despite recent advances, lower limb prosthesis limits ambulation capabilities of people with an amputation, especially during ramp and stairs walking. The company Proteor™ develop a knee-ankle prosthetic system that uses onboard sensor and a microcontroller to adapt its behavior. However, the current adaptation isn’t optimal therefore the objective of this thesis is to modify the control of this prosthesis in order to allow its adaptation to different walking situations. Following the literature review, we proposed to exploit the variations in the kinematics of the person's body center of mass when walking in different situations to adapt the control of the prosthesis. In order to be able to use this variable for control, we developed and validated a method to obtain the kinematic of the body center of mass using inertial measurements units compatible with specific issues of prosthetic control: real time computation and sensors embedded in the prosthesis. Finally, in order to test the modifications of the proposed control, we present methods for the pre-clinical evaluation of this research device.
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https://pastel.archives-ouvertes.fr/tel-03560640
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Submitted on : Monday, February 7, 2022 - 4:27:59 PM
Last modification on : Friday, August 5, 2022 - 2:54:01 PM
Long-term archiving on: : Sunday, May 8, 2022 - 7:08:00 PM

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  • HAL Id : tel-03560640, version 1

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Clément Duraffourg. Adaptation en temps réel d’un système prothétique pour personnes amputées transfémorales. Biomécanique [physics.med-ph]. HESAM Université, 2021. Français. ⟨NNT : 2021HESAE019⟩. ⟨tel-03560640⟩

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