This article describes the design and control of a powered knee and ankle prosthesis for transfemoral amputees. Following a description of the design hardware, a hybrid control approach that provides coordination for level walking is described. The hybrid control approach combines a piecewise-passive impedance-based component during the stance phase of gait with a high impedance trajectory-tracking component during the terminal stance and swing. To validate the design, the controller was implemented on the powered prosthesis prototype, and its ability to provide level walking functionality was evaluated on three transfemoral amputee subjects. The data presented from these experimental trials indicate that the prosthesis and control approach reproduce knee and ankle joint kinematic and kinetic features that are highly representative of corresponding healthy joint biomechanics.

A Robotic Leg Prosthesis: Design, Control, and Implementation

This paper presents a review on design issues and solutions found in active lower limb prostheses. This review is based on a systematic literature search with a methodical search strategy. The search was carried out across four major technical databases and the retrieved records were screened for their relevance. A total of 21 different active prostheses, including 8 above-knee, 9 below-knee and 4 combined knee-ankle prostheses were identified. While an active prosthesis may help to restore the functional performance of an amputee, the requirements regarding the actuation unit as well as for the control system are high and the development becomes a challenging task. Regarding mechanical design and the actuation unit high force/torque delivery, high efficiency, low size and low weight are conflicting goals. The actuation principle and variable impedance actuators are discussed. The control system is paramount for a “natural functioning” of the prosthesis. The control system has to enable locomotion and should react to the amputee’s intent. For this, multi-level control approaches are reviewed.

/pdf/active-lower-limb-prosthetics-a-systematic-review-of-design-1wltwzsyog.pdf

Active lower limb prosthetics: a systematic review of design issues and solutions.

The human wrist contributes greatly to the mobility of the arm/hand system, empowering dexterity and manipulation capabilities. However, both robotic and prosthetic research communities tend to favor the study and development of end-effectors/terminal devices (hands, grippers, etc.) over wrists. Wrists can improve manipulation capabilities, as they can orient the end-effector of a system without imparting significant translational motion. In this paper, we review the current state of the art of wrist devices, ranging from passive wrist prostheses to actuated robotic wrist devices. We focus on the mechanical design and kinematic arrangements of said devices and provide specifications when available.

State of the Art in Artificial Wrists: A Review of Prosthetic and Robotic Wrist Design

This paper describes a control approach that provides walking and standing functionality for a powered ankle prosthesis, and demonstrates the efficacy of the approach in experiments with a unilateral transtibial amputee subject. Both controllers incorporate a finite-state structure that emulates healthy ankle joint behavior via a series of piecewise passive impedance functions. The walking controller additionally modifies impedance parameters based on estimated cadence, while the standing controller modulates the ankle equilibrium angle in order to adapt to the ground slope and user posture, and the supervisory controller selects between the walking and standing controllers. The system is shown to reproduce several essential biomechanical features of the healthy joint during walking, particularly relative to a passive prosthesis, and is shown to adapt to various cadences. The system is also shown to adapt to slopes over a range of $\pm {15}$ $^\circ$ , providing support to the user, as validated by quasi-static stiffness measurements recorded by the prosthesis. The subject is shown to place more weight on the powered prosthesis than on his passive prosthesis when standing on sloped surfaces, particularly at angles of 10 $^\circ$ or greater. The authors also demonstrated that the prosthesis typically began providing support within 1 s of initial ground contact. Further, the supervisory controller was shown to effectively switch between walking and standing, as well as determine ground slope just prior to the transition from the standing controller to the walking controller, where the estimated ground slope was accurate to within 1.25 $^\circ$ for all trials.

/pdf/variable-cadence-walking-and-ground-adaptive-standing-with-a-dx9won80vr.pdf

Variable Cadence Walking and Ground Adaptive Standing With a Powered Ankle Prosthesis

This paper assesses the metabolic effort exerted by three transfemoral amputees, when using a powered knee and ankle prosthesis for stair ascent, relative to ascending stairs with passive knee and ankle prostheses. The paper describes a controller that provides step-over stair ascent behavior reflective of healthy stair ascent biomechanics, and describes its implementation in a powered prosthesis prototype. Stair ascent experiments were performed with three unilateral transfemoral amputee subjects, comparing the oxygen consumption required to ascend stairs using the powered prosthesis (with a step-over gait), relative to using their daily-use energetically passive prostheses (with a step-to gait). Results indicate on average a 24% reduction in oxygen consumption and a 30% reduction in stair ascent timewhen using the powered prosthesis, relative to when using the passive prostheses. All subjects expressed a strong preference for ascending stairs using the powered prosthesis.

Control and Evaluation of a Powered Transfemoral Prosthesis for Stair Ascent

This article discusses the design and testing of a powered ankle prosthesis. This new prosthesis mimics nonamputee (normal) ankle moments during the stance phase of gait through the use of an optimized spring loaded four-bar mechanism. A prototype prosthesis based on the optimization was designed, fabricated, and tested. The experimental results achieved 93.3% of the simulated theoretical ankle moment giving substantial evidence that this approach is a viable in designing powered ankle prostheses.

Design of an Active Ankle-Foot Prosthesis Utilizing a Four-Bar Mechanism

. In light of technological advances, researchers have lost sight of robotic grippers/end effectors design intent. In a semi-structured environment the biomimetic approach is impractical due to the high complexity of the mechanism and control algorithms. Current industrial grippers are robust, but lack the flexibility that allows for in hand manipulation. The authors believe that underactuated grippers provide the best approach to allow for in hand manipulation along with being rugged enough for an industrial setting. Thinking of the robotic gripper and the robotic arm as one system (as opposed to two separate subsystems), one is capable of using the degrees of freedom of the robot in conjunction with that of the gripper to provide the desired motion profile without the complexity of running two subsystems. This paper will outline where recent grippers have failed and will introduce a new design paradigm for grippers along with several underactuated gripper ideas. This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010), 19 August 2010, Montreal, Canada.

/pdf/a-handy-new-design-paradigm-4htxf1xw1w.pdf

A handy new design paradigm

This paper outlines the design and testing of a powered ankle prosthesis, which utilizes a four-bar mechanism in conjunction with a spring and motor that mimics nonamputee (normal) ankle moments. This approach would enable transtibial (below the knee) amputees to walk at a normal speed with minimal energy input. The design takes into account the energy supplied by the wearer required to achieve many of the desired characteristics of a normal gait. A proof-of-concept prototype prosthesis was designed, optimized, fabricated, and tested with the purpose of demonstrating its ability to match crucial ankle moments during the stance phase of gait. Testing of this prosthesis proved crucial in determining the prosthesis' capabilities and in evaluating this approach.

/pdf/concept-through-preliminary-bench-testing-of-a-powered-lower-g6h60lmfrn.pdf

Concept Through Preliminary Bench Testing of a Powered Lower Limb Prosthetic Device

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Design of an Active Ankle-Foot Prosthesis Utilizing a Four-Bar Mechanism

A handy new design paradigm

Concept Through Preliminary Bench Testing of a Powered Lower Limb Prosthetic Device