Design and Control of a Powered Transfemoral Prosthesis
The paper describes the design and control of a transfemoral prosthesis with powered knee and ankle joints. The initial prototype is a pneumatically actuated powered-tethered device, which is intended to serve as a laboratory test bed for a subsequent self-powered version. The prosthesis design is d...
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| Veröffentlicht in: | The International journal of robotics research 2008-02, Vol.27 (2), p.263-273 |
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| container_title | The International journal of robotics research |
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| creator | Sup, Frank Bohara, Amit Goldfarb, Michael |
| description | The paper describes the design and control of a transfemoral prosthesis with powered knee and ankle joints. The initial prototype is a pneumatically actuated powered-tethered device, which is intended to serve as a laboratory test bed for a subsequent self-powered version. The prosthesis design is described, including its kinematic optimization and the design of a three-axis socket load cell that measures the forces and moments of interaction between the socket and prosthesis. A gait controller is proposed based on the use of passive impedance functions that coordinates the motion of the prosthesis with the user during level walking. The control approach is implemented on the prosthesis prototype and experimental results are shown that demonstrate the promise of the active prosthesis and control approach in restoring fully powered level walking to the user. |
| doi_str_mv | 10.1177/0278364907084588 |
| format | Article |
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The initial prototype is a pneumatically actuated powered-tethered device, which is intended to serve as a laboratory test bed for a subsequent self-powered version. The prosthesis design is described, including its kinematic optimization and the design of a three-axis socket load cell that measures the forces and moments of interaction between the socket and prosthesis. A gait controller is proposed based on the use of passive impedance functions that coordinates the motion of the prosthesis with the user during level walking. The control approach is implemented on the prosthesis prototype and experimental results are shown that demonstrate the promise of the active prosthesis and control approach in restoring fully powered level walking to the user.</description><identifier>ISSN: 0278-3649</identifier><identifier>EISSN: 1741-3176</identifier><identifier>DOI: 10.1177/0278364907084588</identifier><identifier>PMID: 19898683</identifier><language>eng</language><publisher>London, England: Sage Publications</publisher><subject>Active control ; Ankle ; Artificial legs ; Control ; Control systems ; Design and construction ; Design optimization ; Energy use ; Gait ; Impedance ; Knee ; Prostheses ; Walking</subject><ispartof>The International journal of robotics research, 2008-02, Vol.27 (2), p.263-273</ispartof><rights>COPYRIGHT 2008 Sage Publications Ltd. (UK)</rights><rights>Copyright SAGE PUBLICATIONS, INC. Feb 2008</rights><rights>2008 SAGE Publications. All rights reserved. 2008</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c598t-3554448ee8f3dc8b45edeb7a9a54b3bfeec5b258da70ff743aff8e7453b841313</citedby><cites>FETCH-LOGICAL-c598t-3554448ee8f3dc8b45edeb7a9a54b3bfeec5b258da70ff743aff8e7453b841313</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://journals.sagepub.com/doi/pdf/10.1177/0278364907084588$$EPDF$$P50$$Gsage$$H</linktopdf><linktohtml>$$Uhttps://journals.sagepub.com/doi/10.1177/0278364907084588$$EHTML$$P50$$Gsage$$H</linktohtml><link.rule.ids>230,314,776,780,881,21800,27903,27904,43600,43601</link.rule.ids><backlink>$$Uhttps://www.ncbi.nlm.nih.gov/pubmed/19898683$$D View this record in MEDLINE/PubMed$$Hfree_for_read</backlink></links><search><creatorcontrib>Sup, Frank</creatorcontrib><creatorcontrib>Bohara, Amit</creatorcontrib><creatorcontrib>Goldfarb, Michael</creatorcontrib><title>Design and Control of a Powered Transfemoral Prosthesis</title><title>The International journal of robotics research</title><addtitle>Int J Rob Res</addtitle><description>The paper describes the design and control of a transfemoral prosthesis with powered knee and ankle joints. The initial prototype is a pneumatically actuated powered-tethered device, which is intended to serve as a laboratory test bed for a subsequent self-powered version. The prosthesis design is described, including its kinematic optimization and the design of a three-axis socket load cell that measures the forces and moments of interaction between the socket and prosthesis. A gait controller is proposed based on the use of passive impedance functions that coordinates the motion of the prosthesis with the user during level walking. The control approach is implemented on the prosthesis prototype and experimental results are shown that demonstrate the promise of the active prosthesis and control approach in restoring fully powered level walking to the user.</description><subject>Active control</subject><subject>Ankle</subject><subject>Artificial legs</subject><subject>Control</subject><subject>Control systems</subject><subject>Design and construction</subject><subject>Design optimization</subject><subject>Energy use</subject><subject>Gait</subject><subject>Impedance</subject><subject>Knee</subject><subject>Prostheses</subject><subject>Walking</subject><issn>0278-3649</issn><issn>1741-3176</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2008</creationdate><recordtype>article</recordtype><recordid>eNp9kd1r2zAUxcVYWdNs73sahsHoizvJkqKrl0FIP6HQPGTPQravUhdb6qSkZf99ZRLWrtCiB4PuOT9dn0PIV0ZPGFPqJ60U8JnQVFEQEuADmTAlWMmZmn0kk3FcjvNDcpTSHaWUz6j-RA6ZBg0z4BOiTjF1a19Y3xaL4Dcx9EVwhS2W4REjtsUqWp8cDiHavljGkDa32ZE-kwNn-4Rf9t8p-X1-tlpcltc3F1eL-XXZSA2bkksphABEcLxtoBYSW6yV1VaKmtcOsZF1JaG1ijqnBLfOASoheQ2Cccan5NeOe7-tB2wbzCva3tzHbrDxrwm2M_9PfHdr1uHBVErlx3kG_NgDYvizxbQxQ5ca7HvrMWyTyVEJoDAKj98VMsg8yammWfr9lfQubKPPORimK-CUVWIEnuxUa9uj6bwLecEmnxaHrgkeXZfv50zx3J7O-CmhO0OTY04R3b_fZNSMfZvXfWfLt5fxPBv2BWdBuRMku8YXa74FfAKNpLG0</recordid><startdate>200802</startdate><enddate>200802</enddate><creator>Sup, Frank</creator><creator>Bohara, Amit</creator><creator>Goldfarb, Michael</creator><general>Sage Publications</general><general>Sage Publications Ltd. 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| ispartof | The International journal of robotics research, 2008-02, Vol.27 (2), p.263-273 |
| issn | 0278-3649 1741-3176 |
| language | eng |
| recordid | cdi_pubmedcentral_primary_oai_pubmedcentral_nih_gov_2773553 |
| source | SAGE Complete A-Z List |
| subjects | Active control Ankle Artificial legs Control Control systems Design and construction Design optimization Energy use Gait Impedance Knee Prostheses Walking |
| title | Design and Control of a Powered Transfemoral Prosthesis |
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