Design and Control of an Active Electrical Knee and Ankle Prosthesis.

ABSTRACT: This paper presents an overview of the design and control of an electrically powered knee and ankle prosthesis. The prosthesis design incorporates two motor-driven ball screw units to drive the knee and ankle joints. A spring in parallel with the ankle motor unit is employed to decrease the power consumption and increase the torque output for a given motor size. The device's sensor package includes a custom load cell to measure the sagittal socket interface moment above the knee joint, a custom sensorized foot to measure the ground reaction force at the heel and ball of the foot, and commercial potentiometers and load cells to measure joint positions and torques. A finite-state based impedance control approach, previously developed by the authors, is used and experimental results on level

SUBMITTER: Sup F 

PROVIDER: S-EPMC2906131 | biostudies-literature | 2008 Oct

REPOSITORIES: biostudies-literature