Automated and Controlled System for Analysis of Residual Limbs Thermograms of Transtibial Amputees

This work describes the development of a controlled cabin for capturing and analyzing thermal images. The motivation of such a device is to aid in the thermal image acquisition process within a confined space. The thermograms generated provide helpful information for analyzing the residual human limb in subjects with transtibial amputation. Such a study proposes a non-intrusive method to study the thermal activity on the amputee residual limb and seek a correlation to the quality of the socket. The proposed cabin ensures the repeatability of the thermograms acquisition process and provides an isolated workspace, thus improving the quality of the samples. The methodology consists of the design of the mechanical elements and parts of the system on computer-aided design software, the electronic instrumentation, a graphic user interface, and the control algorithm based on a barrier Lyapunov function to solve the trajectory tracking for the camera movements, and numerical simulations to illustrate the functionality and the manufacture of a prototype. The results obtained by implementing the control design on the automated cabin reveal that the thermal image acquisition process is completed following the desired trajectory with a mean squared tracking error of 0.0052. In addition, an example of the thermal images of two subjects and the results processing this class of pictures using the designed interface is shown.