Design and control of a prosthetic leg for above-knee amputees operated in semi-active and active modes

Park, Jinhyuk; Yoon, Gun-Ha; Kang, Je-Won; Choi, Seung–Bok

doi:10.1088/0964-1726/25/8/085009

Cited by 79 publications

(59 citation statements)

References 16 publications

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“…The angle control approach is inherently not suitable for prostheses due to biomechanical reasons, as reported by Sup et al [ 37 ]. On the other hand, the torque control or tracking with state impedance control schemes, have already established its suitability in active prostheses [ 42 ], but its application in semi-active prostheses [ 43 ] may not be cautious enough as semi-active prostheses reported in [ 24 , 25 , 26 ] using an MR damper do not contribute to net propulsive power during walking. Its function still remains as a passive device with impedance or damping modulation despite torque control.…”

Section: Discussionmentioning

confidence: 99%

“…The authors used an MR knee prosthesis to adapt knee damping using local sensing of knee force, torque, and position. A few recent studies conducted by Xu et al [ 24 ], Park et al [ 25 ], and Fu et al [ 26 ] have also attempted to design a lower limb prosthesis based on an MR damper. Complex sensing, data-driven AI control and lack of local climatic adaptations as well as increased cost of the prosthesis arising from various factors ranging from non-inclusion of off-the-shelf components or locally manufactured components increased the inherent cost, making it unsuitable for applications in low-income economies.…”

Section: Prosthesis Designmentioning

confidence: 99%

See 1 more Smart Citation

An Affordable Insole-Sensor-Based Trans-Femoral Prosthesis for Normal Gait

Pandit

Godiyal

Vimal

et al. 2018

Sensors

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This paper proposes a novel and an affordable lower limb prosthesis to enable normal gait kinematics for trans-femoral amputees. The paper details the design of a passive prosthesis with magneto-rheological (MR) damping system and electronic control. A new control approach based on plantar insole feedback was employed here. Strategically placed sensors on the plantar insole provide required information about gait cycle to a finite state controller for suitable action. A proportional integral (PI) based current controller controls the required current for necessary damping during gait. The prosthesis was designed and developed locally in India keeping in view the cost, functionality, socio-economic, and aesthetic requirements. The prototype was experimentally tested on a trans-femoral amputee and the results are presented in this work. The implementation of the proposed design and control scheme in the prototype successfully realizes the notion that normal gait kinematics can be achieved at a low cost comparable to passive prostheses. The incurring cost and power expenditure of the proposed prosthesis are evaluated against passive and active prostheses, respectively. The commercial implications for the prosthesis were explored on the basis of recommendations of ISPO Consensus Conference on Appropriate Prosthetic Technology in Developing Countries. The key objective of this work is to enable lucid design for development of an affordable prosthesis in a low-resource setting.

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Section: Discussionmentioning

confidence: 99%

Section: Prosthesis Designmentioning

confidence: 99%

An Affordable Insole-Sensor-Based Trans-Femoral Prosthesis for Normal Gait

Pandit

Godiyal

Vimal

et al. 2018

Sensors

View full text Add to dashboard Cite

show abstract

“…It was reported that by controlling the damping force of MR damper, the desired knee joint angle can be accurately achieved. Park et al [85] designed and manufactured a prosthetic leg for above-knee amputees using MR damper and control performance was evaluated experimentally. The proposed device includes the wearable connector, encoder, flat motor, planetary gear head, gyro sensor, hinge, and MR damper.…”

Section: Medical and Rehabilitation Applicationsmentioning

confidence: 99%

A State-of-the-Art Review on Robots and Medical Devices Using Smart Fluids and Shape Memory Alloys

2018

Self Cite

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Over the last two decades, smart materials have received significant attention over a broad range of engineering applications because of their unique and inherent characteristics for actuating and sensing aspects. In this review article, recent research works on various robots, medical devices and rehabilitation mechanisms whose main functions are activated by smart materials are introduced and discussed. Among many smart materials, electro-rheological fluids, magneto-rheological fluids, and shape memory alloys are considered since there are mostly appropriate application candidates for the robot and medical devices. Many different types of robots proposed to date, such as parallel planar robots, are investigated focusing on design configuration and operating principles. In addition, specific mechanism and operating principles of medical devices and rehabilitation systems are introduced and commented in terms of practical realization.

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“…In the recently decades, there are several researches about the MR damper based above-knee prosthesis (MRAKP) in the world [3][4][5][6]. Hugh Herr and Ari Wilkenfeld proposed an intelligent prosthetic knee with a MR damper and the adaptive controlling base on the finite-state machine (FSM) for the prosthetic knee [7].…”

Section: Introductionmentioning

confidence: 99%

Research on the Nonlinear Computer Torque control of the MR Damper Based Above-knee Prosthesis

Pan

2019

MATEC Web Conf.

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Aiming at the motion track controlling of the semi-active magnetorheological damper based above-knee prosthesis (MRAKP), according to the LaSalle’s invariant set theorem, a kind of nonlinear compute torque (NCT) control law for the track controlling of the AKMR, is proposed to promote the robustness and performance of the intelligent above-knee prosthesis. The proposed NCT controller includes the feedforward control and the feedback control. The former one is used to compensate the nonlinear terms in the dynamic model of the MRAKP, such as the Coriolis force, the centripetal force, and the gravity. The feedback control, utilizing a nonlinear PD controller, adaptively adjusts the control gain coefficients and reduces the system error. On these bases, numerical simulations on the MRAKPare carried out to analyze the performance of the proposed NCT controller in ADAMS and simulink. For comparing, the track controlling performance of the PD controller and the CT+PD controller are also presented in the paper. Simulation results indicate that the proposed NCT controller for the MRAKP is able to adaptively adjust the control gain coefficients with lower track error and higher robustness than the conventional PD controller and the CT+PD controller.

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Design and control of a prosthetic leg for above-knee amputees operated in semi-active and active modes

Cited by 79 publications

References 16 publications

An Affordable Insole-Sensor-Based Trans-Femoral Prosthesis for Normal Gait

An Affordable Insole-Sensor-Based Trans-Femoral Prosthesis for Normal Gait

A State-of-the-Art Review on Robots and Medical Devices Using Smart Fluids and Shape Memory Alloys

Research on the Nonlinear Computer Torque control of the MR Damper Based Above-knee Prosthesis

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