Review of Recent Progress in Robotic Knee Prosthesis Related Techniques: Structure, Actuation and Control

Abstract

As the essential technology of human-robotics interactive wearable devices, the robotic knee prosthesis can provide above-knee amputations with functional knee compensations to realize their physical and psychological social regression. With the development of mechanical and mechatronic science and technology, the fully active knee prosthesis that can provide subjects with actuating torques has demonstrated a better wearing performance in slope walking and stair ascent when compared with the passive and the semi-active ones. Additionally, with intelligent human-robotics control strategies and algorithms, the wearing effect of the knee prosthesis has been greatly enhanced in terms of stance stability and swing mobility. Therefore, to help readers to obtain an overview of recent progress in robotic knee prosthesis, this paper systematically categorized knee prostheses according to their integrated functions and introduced related research in the past ten years (2010–2020) regarding (1) mechanical design, including uniaxial, four-bar, and multi-bar knee structures, (2) actuating technology, including rigid and elastic actuation, and (3) control method, including mode identification, motion prediction, and automatic control. Quantitative and qualitative analysis and comparison of robotic knee prosthesis-related techniques are conducted. The development trends are concluded as follows: (1) bionic and lightweight structures with better mechanical performance, (2) bionic elastic actuation with energy-saving effect, (3) artificial intelligence-based bionic prosthetic control. Besides, challenges and innovative insights of customized lightweight bionic knee joint structure, highly efficient compact bionic actuation, and personalized daily multi-mode gait adaptation are also discussed in-depth to facilitate the future development of the robotic knee prosthesis.

Design and optimization of a new integrated hip and knee prosthesis structure

“…The new HDP utilizes a four-bar structure instead of the conventional single-axis knee joint. [28][29][30] The optimized fourbar structure of the knee joint restores the biological knee joint motion characteristics (Figure 4). Moreover, conventional prostheses in joint synergistic motion mainly rely on control techniques.…”

“…The optimized RCM structure matches the amputee's existing socket and is consistent with the dimensions of the rehabilitated leg. The new HDP utilizes a four‐bar structure instead of the conventional single‐axis knee joint 28–30 . The optimized four‐bar structure of the knee joint restores the biological knee joint motion characteristics (Figure 4).…”

Finding a Natural Fit: A Thematic Analysis of Amputees’ Prosthesis Setting Preferences during User-Guided Auto-Tuning

“…Active or powered prostheses have enhanced functionality in various conditions such as stair climbing (Sun et al, 2021), and have been shown to provide better functional and psychological outcomes compared to passive devices (Lathouwers et al, 2023). However, the higher functionality of active prostheses also increases the complexity of the system and the number of control parameters for tuning to personalize the prosthetic legs.…”

A Novel Framework to Facilitate User Preferred Tuning for a Robotic Knee Prosthesis

“…One promising technology is robotic prosthetic legs that are motorized and intelligently controlled. Compared to passive alternatives that fail to replicate the behaviors of the healthy limb across various environments, robotic prostheses showed many potential advantages [2], including increased range of motion [3], enhanced stability and balance of wearers [4], [5], and ability to adapt to various terrains [6], [7].…”