Design and Control of an Electrically Powered Knee Prosthesis

Fite, Kevin B.; Mitchell, Jason E.; Sup, Frank C.; Goldfarb, Michael

doi:10.1109/icorr.2007.4428531

Cited by 64 publications

(44 citation statements)

References 8 publications

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“…For instance, current leg prostheses mimic human joint impedances that have been recorded in experiments [16]. Bound to these predefined R. Desai and H. Geyer are with the Robotics Institute, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, PA 15213, USA.…”

Section: Introductionmentioning

confidence: 99%

Robust swing leg placement under large disturbances

Desai

Geyer

2012

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Swing leg placement is vital to dynamic stability in legged robots and animals. The most common approaches to generating swing leg motions in robotics use either position or impedance tracking of defined joint trajectories. While these approaches suffice in humanoids, they severely limit swing leg placement under large disturbances in prosthetic limbs, for which stabilizing reactions cannot be planned centrally. Rather than careful central planning, animals and humans seem to rely on local feedback control for reliable swing leg placement. Motivated by this observation, we here present an alternative for generating swing leg motions. We develop a local swing leg control that takes advantage of segment interactions to achieve robust leg placement under large disturbances while generating trajectories and joint torque patterns similar to those patterns observed in human walking and running. The results suggest the identified control as a powerful alternative to existing swing leg controls in humanoid and rehabilitation robotics.

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Section: Introductionmentioning

confidence: 99%

Robust swing leg placement under large disturbances

Desai

Geyer

2012

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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“…Current approaches to the design of powered prostheses have focused mainly on the use of single motor-transmission systems directly coupled to the knee joint [12] [13]. Such direct-drive designs, however, require high electrical power consumption to fully emulate the mechanical behavior of the human knee joint even during level-ground ambulation.…”

mentioning

confidence: 99%

Antagonistic active knee prosthesis. A metabolic cost of walking comparison with a variable-damping prosthetic knee

Martinez-Villalpando

Mooney

Elliott³

et al. 2011

2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society

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This paper examines the impact of a biomimetic active knee prosthesis on the metabolic costs associated with a unilateral transfemoral amputee walking at self selected speed. In this study we compare the antagonistic active knee prosthesis developed at MIT to an electronically controlled, variable-damping commercial knee prosthesis, the Otto Bock C-leg. Use of the active knee prosthesis resulted in both, a 17% increase in an amputee's average self selected walking speed from 1.12 m/s to 1.31 m/s, and a 6.8% reduction in metabolic cost. The results of this study suggest that an agonist-antagonist active knee prosthesis design with variable impedance control can offer walking energetic advantages over commercially available systems.

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“…Powered prostheses, such as the Victhom knee (Bedard, 2004, Bedard, 2006, Bédard and Roy, 2008, commercially known as the Power Knee and distributed by Ossur are fully actuated. These prostheses are powered using either DC motors (Fite et al, 2007, Sup et al, 2008, Goldfarb, 2013, Shultz et al, 2014, or pneumatic actuators (Sup and Goldfarb, 2006). Although these prostheses are able to supply positive power, they consume more power than the human joint (Unal et al, 2014).…”

Section: Introductionmentioning

confidence: 99%

Towards a Smart Semi-Active Prosthetic Leg: Preliminary Assessment and Testing

et al. 2016

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This paper presents a development of a semi-active prosthetic knee, which can work in both active and passive modes based on the energy required during the gait cycle of various activities of daily livings (ADLs). The prosthetic limb is equipped with various sensors to measure the kinematic and kinetic parameters of both prosthetic limbs. This prosthetic knee is designed to be back-drivable in passive mode to provide a potential use in energy regeneration when there negative energy across the knee joint. Preliminary test has been performed on transfemoral amputee in passive mode to provide some insight to the amputee/prosthesis interaction and performance with the designed prosthetic knee.

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Design and Control of an Electrically Powered Knee Prosthesis

Cited by 64 publications

References 8 publications

Robust swing leg placement under large disturbances

Robust swing leg placement under large disturbances

Antagonistic active knee prosthesis. A metabolic cost of walking comparison with a variable-damping prosthetic knee

Towards a Smart Semi-Active Prosthetic Leg: Preliminary Assessment and Testing

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