Design and control of an active artificial knee joint

Kaptı, Akın Oğuz; Yucenur, M. Sait

doi:10.1016/j.mechmachtheory.2006.01.017

Cited by 69 publications

(40 citation statements)

References 8 publications

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“…Most of the recent developments in gait control for above-knee prosthesis are based on instrumented shoes coupled to the prosthesis, as reported by Bar et al (1983), Herr and Wilkenfeld (2003) and Kapti and Yucenur (2006). Compared to our approach, which is based on the echo control, when the load sensors are installed on the prosthesis foot, there are limitations for cyclic and symmetric patterns and the use for only unilateral amputees.…”

Section: Discussionmentioning

confidence: 99%

“…In the present design, the power supply and the DC motor are installed inside of the prosthesis, allowing for a reduced size, as suggested by Bar et al (1983) in the group's early work. We have also used only one DC motor, a microcontrolled micromotor, which is a more compact solution compared to other designs proposed, such as that of Kapti and Yucenur (2006) or Martinez-Villalpando and Herr (2009).…”

Section: Discussionmentioning

confidence: 99%

“…In level-ground walking, the normal gait cycle can be divided into two main phases, the stance and swing phases, when the foot is in contact with the ground and in the air, respectively. The stance phase corresponds to approximately 60% of the gait cycle, while the swing phase is the remaining 40% (Kadaba et al, 1990;Kapti and Yucenur, 2006;Martinez-Villalpando and Herr, 2009). …”

Section: Methodsmentioning

confidence: 99%

“…By utilizing specific programs and sensor information, these prostheses may result in a more natural gait (Aaron et al, 2006;Sup et al, 2008;Herr and Wilkenfeld, 2003;Johansson et al, 2005;Kahle et al, 2008;Kapti and Yucenur, 2006;Laferrier and Gailey, 2010). The main differences in the design of these prostheses are in their damping systems because an adequate damping allows for fast transitions in stride velocity, which increases the autonomy of the amputee.…”

Section: Introductionmentioning

confidence: 99%

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Conception, design and development of a low-cost intelligent prosthesis for one-sided transfemoral amputees

2015

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Introduction: Modern transfemoral knee prostheses are designed to offer comfort and self-confidence to amputees. These prostheses are mainly based upon either a passive concept, with a damping system, or an active computational intelligent design to control knee motion during the swing phase. In Brazil, most lower extremity amputees are unable to afford modern prostheses due to their high cost. In this work, we present the conception, design and development of a low-cost intelligent prosthesis for one-sided transfemoral amputees. Methods: The concept of the prosthesis is based on a control system with sensors for loads, which are installed on the amputee's preserved leg and used as a mirror for the movement of the prosthesis. Mechanical strength analysis, using the Finite Element Method, electromechanical tests for the sensors and actuators and verification of data acquisition, signal conditioning and data transferring to the knee prosthesis were performed. Results:The laboratory tests performed showed the feasibility of the proposed design. The electromechanical concept that was used enabled a controlled activation of the knee prosthesis by the two load cells located on the shoe sole of the preserved leg. Conclusions: The electromechanical design concept and the resulting knee prosthesis show promising results concerning prosthesis activation during walking tests, thereby showing the feasibility of a reduced manufacturing cost compared to the modern prostheses available on the market.

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Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Conception, design and development of a low-cost intelligent prosthesis for one-sided transfemoral amputees

2015

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“…A comparison between a magnetorheological controlling prosthetic knee and a conventional model was done in (Herr & Wilkenfeld, 2003). Kapti and Yucenur also worked on design and control of an active artificial knee joint (Kapti & Yucenur, 2006). A biomimetic variable-impedance kneed prosthesis was proposed by Vilalpando and Herr in order to improve gait and metabolic energy consumption of above-knee amputees on variant terrain conditions (Vilalpando & Herr, 2009).…”

Section: Genetic Algorithms In Applications 72mentioning

confidence: 99%