Dataset Information

Design and Validation of a Powered Knee-Ankle Prosthesis with High-Torque, Low-Impedance Actuators.

ABSTRACT: We present the design of a powered knee-ankle prosthetic leg, which implements high-torque actuators with low-reduction transmissions. The transmission coupled with a high-torque and low-speed motor creates an actuator with low mechanical impedance and high backdrivability. This style of actuation presents several possible benefits over modern actuation styles in emerging robotic prosthetic legs, which include free-swinging knee motion, compliance with the ground, negligible unmodeled actuator dynamics, less acoustic noise, and power regeneration. Benchtop tests establish that both joints can be backdriven by small torques (~1-3 Nm) and confirm the small reflected inertia. Impedance control tests prove that the intrinsic impedance and unmodeled dynamics of the actuator are sufficiently small to control joint impedance without torque feedback or lengthy tuning trials. Walking experiments validate performance under the designed loading conditions with minimal tuning. Lastly, the regenerative abilities, low friction, and small reflected inertia of the presented actuators reduced power consumption and acoustic noise compared to state-of-art powered legs.

SUBMITTER: Elery T

PROVIDER: S-EPMC7720653 | biostudies-literature | 2020 Dec

REPOSITORIES: biostudies-literature

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Publications

Design and Validation of a Powered Knee-Ankle Prosthesis with High-Torque, Low-Impedance Actuators.

Elery Toby T Rezazadeh Siavash S Nesler Christopher C Gregg Robert D RD

IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society 20200713 6

We present the design of a powered knee-ankle prosthetic leg, which implements high-torque actuators with low-reduction transmissions. The transmission coupled with a high-torque and low-speed motor creates an actuator with low mechanical impedance and high backdrivability. This style of actuation presents several possible benefits over modern actuation styles in emerging robotic prosthetic legs, which include free-swinging knee motion, compliance with the ground, negligible unmodeled actuator d ...[more]

PMID: 33299386

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Project description:Regular use of prostheses is critical for individuals with lower limb amputations to achieve everyday mobility, maintain physical and physiological health, and achieve a better quality of life. Use of prostheses is influenced by numerous factors, with prosthetic design playing a critical role in facilitating mobility for an amputee. Thus, prostheses design can either promote biomechanically efficient or inefficient gait behavior. In addition to increased energy expenditure, inefficient gait behavior can expose prosthetic user to an increased risk of secondary musculoskeletal injuries and may eventually lead to rejection of the prosthesis. Consequently, researchers have utilized the technological advancements in various fields to improve prosthetic devices and customize them for user specific needs. One evolving technology is powered prosthetic components. Presently, an active area in lower limb prosthetic research is the design of novel controllers and components in order to enable the users of such powered devices to be able to reproduce gait biomechanics that are similar in behavior to a healthy limb. In this case series, we studied the impact of using a powered knee-ankle prostheses (PKA) on two transfemoral amputees who currently use advanced microprocessor controlled knee prostheses (MPK). We utilized outcomes pertaining to kinematics, kinetics, metabolics, and functional activities of daily living to compare the efficacy between the MPK and PKA devices. Our results suggests that the PKA allows the participants to walk with gait kinematics similar to normal gait patterns observed in a healthy limb. Additionally, it was observed that use of the PKA reduced the level of asymmetry in terms of mechanical loading and muscle activation, specifically in the low back spinae regions and lower extremity muscles. Further, the PKA allowed the participants to achieve a greater range of cadence than their predicate MPK, thus allowing them to safely ambulate in variable environments and dynamically control speed changes. Based on the results of this case series, it appears that there is considerable potential for powered prosthetic components to provide safe and efficient gait for individuals with above the knee amputation.

Dataset Information

Design and Validation of a Powered Knee-Ankle Prosthesis with High-Torque, Low-Impedance Actuators.

Publications

Design and Validation of a Powered Knee-Ankle Prosthesis with High-Torque, Low-Impedance Actuators.

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