Fault Tolerance in Intelligent Robotic Knee Prostheses for Safer Adaptive Locomotion

Fault Tolerance in Intelligent Robotic Knee Prostheses for Safer Adaptive Locomotion | Authorea try { document.documentElement.classList.add('js'); } catch (e) { } var _gaq = _gaq || []; _gaq.push(['_setAccount', 'G-8VDV14Y67G']); _gaq.push(['_trackPageview']); (function() { var ga = document.createElement('script'); ga.type = 'text/javascript'; ga.async = true; ga.src = ('https:' == document.location.protocol ? 'https://ssl' : 'http://www') + '.google-analytics.com/ga.js'; var s = document.getElementsByTagName('script')[0]; s.parentNode.insertBefore(ga, s); })(); Skip to main content Preprints Collections Wiley Open Research IET Open Research Ecological Society of Japan All Collections About About Authorea FAQs Contact Us Quick Search anywhere Search for preprint articles, keywords, etc. Search Search ADVANCED SEARCH SCROLL This is a preprint and has not been peer reviewed. Data may be preliminary. 13 August 2025 V1 Latest version Share on Fault Tolerance in Intelligent Robotic Knee Prostheses for Safer Adaptive Locomotion Authors : Amirreza Naseri 0000-0003-3387-8373 , Varun Nalam , Woolim Hong , Ming Liu , I-Chieh Lee , and He (Helen) Huang Authors Info & Affiliations https://doi.org/10.22541/au.175511646.61603592/v1 334 views 171 downloads Contents Abstract Supplementary Material Information & Authors Metrics & Citations View Options References Figures Tables Media Share Abstract Robotic lower-limb prostheses have enabled advanced functionalities for individuals with lower-limb amputations. However, control faults within these systems are inevitable and may disrupt gait stability, potentially causing injuries. Despite these risks, fault tolerance for robotic lower-limb prostheses remains underexplored. We introduced a supervisory fault tolerance mechanism (FTM) for a robotic knee prosthesis. Using onboard sensors, the FTM employed error-robust signals to predict nominal prosthetic joint dynamics and error-sensitive signals for real-time fault detection and compensation. In the validation experiments, subjects were asked to walk on a treadmill while we injected prosthesis control faults at random gait cycles and compared walking performance with and without FTM. Results showed the effectiveness of the FTM in detecting control faults and performing predictive compensation. The FTM significantly improved physical and perceived walking stability, compared to no-FTM trials. During false detections, its predictive compensator did not introduce additional gait disruption. This work informs a prosthesis-control framework that improves robustness to internal faults. Supplementary Material File (ftm_tro.pdf) Download 12.96 MB Information & Authors Information Version history V1 Version 1 13 August 2025 Copyright This work is licensed under a Non Exclusive No Reuse License. Keywords control error mitigation human-prosthesis interactions locomotion stability prosthesis user safety robotic prosthesis Authors Affiliations Amirreza Naseri 0000-0003-3387-8373 View all articles by this author Varun Nalam View all articles by this author Woolim Hong View all articles by this author Ming Liu View all articles by this author I-Chieh Lee View all articles by this author He (Helen) Huang View all articles by this author Funding Information Foundation for the National Institutes of Health R01EB024570 Metrics & Citations Metrics Article Usage 334 views 171 downloads .FvxKWukQNSOunydq8rnd { width: 100px; } Citations Download citation Amirreza Naseri, Varun Nalam, Woolim Hong, et al. Fault Tolerance in Intelligent Robotic Knee Prostheses for Safer Adaptive Locomotion. Authorea . 13 August 2025. 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