Self-contained powered knee and ankle prosthesis: Initial evaluation on a transfemoral amputee
This paper presents an overview of the design and control of a fully self-contained prosthesis, which is intended to improve the mobility of transfemoral amputees. A finite-state based impedance control approach, previously developed by the authors, is used for the control of the prosthesis during w...
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| Veröffentlicht in: | 2009 IEEE International Conference on Rehabilitation Robotics 2009-06, Vol.2009, p.638-644 |
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| container_title | 2009 IEEE International Conference on Rehabilitation Robotics |
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| creator | Sup, F. Varol, H.A. Mitchell, J. Withrow, T.J. Goldfarb, M. |
| description | This paper presents an overview of the design and control of a fully self-contained prosthesis, which is intended to improve the mobility of transfemoral amputees. A finite-state based impedance control approach, previously developed by the authors, is used for the control of the prosthesis during walking and standing. The prosthesis was tested on an unilateral amputee subject for over-ground walking. Prosthesis sensor data (joint angles and torques) acquired during level ground walking experiments at a self-selected cadence demonstrates the ability of the device to provide a functional gait similar to normal gait biomechanics. Battery measurements during level ground walking experiments show that the self-contained device provides over 4, 500 strides (9.0 km of walking at a speed of 5.1 km/h) between battery charges. |
| doi_str_mv | 10.1109/ICORR.2009.5209625 |
| format | Article |
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| identifier | ISSN: 1945-7898 |
| ispartof | 2009 IEEE International Conference on Rehabilitation Robotics, 2009-06, Vol.2009, p.638-644 |
| issn | 1945-7898 1945-7901 |
| language | eng |
| recordid | cdi_ieee_primary_5209625 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Battery charge measurement Biomechanics Biosensors Current measurement Impedance Knee Legged locomotion Prosthetics Testing Velocity measurement |
| title | Self-contained powered knee and ankle prosthesis: Initial evaluation on a transfemoral amputee |
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