Our mission is to foster research on prosthetic control strategies through the use of an open and common hardware platform. In addition, we seek to provide data available from our testing to help researchers gain a deeper understanding of use of the OSL. Dr. Levi Hargrove and our collaborators at the Shirley Ryan AbilityLab tested the OSL on three people with transfemoral amputation, ambulating through a circuit with different activities. These activities included level ground walking, ramp ascent, ramp descent, stair ascent, and stair descent, as well as seamless transitions between activities. The OSL was used with impedance control and tuned by prosthetists and physical therapists to meet a set of desired clinical ambulation goals. The captured data provide a window into what can be recorded with the OSL, and how a researcher-tuned impedance control will govern leg mechanics during gait.
Click here to download the data from these tests. We have also included a MATLAB script that will automatically plot all of the sensor data. Sensors include: IMUs, joint angles/velocities, shank/thigh angles, vertical ground reaction force, loadcell, motor current, and impedance control parameters.
More information is available in our publication:
A F Azocar, L M Mooney, J F Duval, A M Simon, L J Hargrove, and E J Rouse, “Design, Control, and Clinical Implementation of an Open Source Bionic Leg,” Nature Biomedical Engineering, accepted, in press.
In addition, an independent researcher has developed a Gazebo / ROS simulation tool, and has made the work open to the community. We encourage you to visit his Github page.
Open dataset available as part of our Nature BME publication (reference below).
ROS / Gazebo simulation of the Open Source Leg developed by Senthur Raj.