Design and control of an active electrical knee and ankle prosthesis

Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008

Volumn , Issue , 2008, Pages 523-528

  Sup, Frank ^a   Varol, Huseyin Atakan ^a   Mitchell, Jason ^a   Withrow, Thomas ^a   Goldfarb, Michael ^a  

^a VANDERBILT UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ELECTRIC POWER UTILIZATION; JOINTS (ANATOMY); MOTION CONTROL; MOTORS; ROBOTICS; VOLTAGE DIVIDERS;

ANKLE JOINTS; BALL SCREWS; DESIGN AND CONTROLS; FINITE STATE; GROUND REACTION FORCES; IMPEDANCE CONTROLS; KNEE JOINTS; LITHIUM-POLYMER BATTERIES; LOAD CELLS; MOTOR UNITS; POWER CONSUMPTION; PROSTHESIS DESIGNS; SENSOR PACKAGES; SPRING-IN; TREADMILL WALKINGS;

JOINT PROSTHESES;

EID: 63049100904     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/BIOROB.2008.4762811     Document Type: Conference Paper

References (26)

1. Winter, D.A. The biomechanics and motor control of human gait: normal, elderly and pathological, University of Waterloo Press, 2PndP ed, 1991.
2. Winter, D. A. and Sienko, S. E. Biomechanics of below-knee amputee gait. J. Biomechanics. 21, 361-367, 1988.
3. Nadeau, S., McFadyen, B.J., and Malouin, F. Frontal and sagittal plane analyses of the stair climbing task in healthy adults aged over 40 years: What are the challenges compared to level walking? Clinical Biomechanics, vol. 18, no. 10, pp. 950-959, 2003.
4. Riener, R., Rabuffetti, M., and Frigo, C. Joint powers in stair climbing at different slopes. Proceedings of the IEEE International Conference on Engineering in Medicine and Biology, vol. 1, p. 530, 1999.
5. Prilutsky, B.I., Petrova, L.N., and Raitsin, L.M. Comparison of mechanical energy expenditure of joint moments and muscle forces during human locomotion. Journal of Biomechanics, vol. 29, no. 4, pp. 405-415, 1996.
6. DeVita, P., Torry M., Glover, K.L., and Speroni, D.L. A Functional Knee Brace Alters Joint Torque and Power Patterns during Walking and Running, Journal of Biomechanics, vol. 29, no. 5, pp. 583-588, 1996.
7. Nagano, A., Ishige, Y., and Fukashiro, S. Comparison of new approaches to estimate mechanical output of individual joints in vertical jumps. Journal of Biomechanics, vol. 31, no. 10, pp. 951-955, 1998.
8. Jacobs, R., Bobbert, M.F., van Ingen Schenau, G.J. Mechanical output from individual muscles during explosive leg extensions: the role of biarticular muscles. Journal of Biomechanics, vol. 29, no. 4, pp. 513-523, 1996.
9. Waters, R., Perry, J., Antonelli, D., and Hislop, H. Energy cost of walking amputees: the influence of level of amputation. J. Bone and Joint Surgery. 58A, 42-46, 1976.
10. Flowers, W.C., A Man-Interactive Simulator System for Above-Knee Prosthetics Studies, Department of Mechanical Engineering PhD Thesis, MIT, 1973.
11. Donath, M., Proportional EMG Control for Above-Knee Prosthesis', Department of Mechanical Engineering Masters Thesis, MIT, 1972.
12. Grimes, D. L. An Active Multi-Mode Above Knee Prosthesis Controller. Department of Mechanical Engineering PhD Thesis, MIT, 1979.
13. Grimes, D. L., Flowers, W. C., and Donath, M. Feasibility of an active control scheme for above knee prostheses. ASME Journal of Biomechanical Engineering, vol. 99, no. 4, pp. 215-221, 1977.
14. Stein, J.L. Design Issues in the Stance Phase Control of Above-Knee Prostheses. Department of Mechanical Engineering PhD Thesis, MIT, 1983
15. Stein, J.L., and Flowers, W.C. Stance phase control of above-knee prostheses: knee control versus SACH foot design. Journal of Biomechanics, vol. 20, no. 1, pp. 19-28, 1987.
16. Flowers, W.C., and Mann, R.W. Electrohydraulic knee-torque controller for a prosthesis simulator. ASME Journal of Biomechanical Engineering, vol. 99, no. 4, pp. 3-8, 1977.
17. Popovic, D. and Schwirtlich, L. Belgrade active A/K prosthesis, in de Vries, J. (Ed.), Electrophysiological Kinesiology, Intern. Congress Ser. No. 804, Excerpta Medica, Amsterdam, The Netherlands, pp. 337-343, 1988.
18. Klute, G.K., Czerniecki, J., Hannaford, B., "Muscle-Like Pneumatic Actuators for Below-Knee Prostheses, Proceedings the Seventh Int. Conf. on New Actuators, pp. 289-292, 2000.
19. Au, S., Bonato, P., Herr, H., "An EMG-Position Controlled System for an Active Ankle-Foot Prosthesis: An Initial Experimental Study," Proceedings of the IEEE Int. Conf. on Rehabilitation Robotics, pp. 375-379, 2005.
20. Sup, F., Bohara, A., Goldfarb, M., "Design and Control of a Powered Transfemoral Prosthesis," The International Journal of Robotics Research, pp. 263-273, vol. 27, Feb 2008.
21. Goldfarb, M., Barth, E.J., Gogola, M.A. and Wehrmeyer, J.A., "Design and Energetic Characterization of a Liquid-Propellant- Powered Actuator for Self-Powered Robots," IEEE/ASME Trans. on Mechatronics, vol. 8, no. 2, pp. 254-262, 2003.
22. Shields, B.L., Fite, K., and Goldfarb, M., "Design, Control, and Energetic Characterization of a Solenoid Injected Monopropellant Powered Actuator," IEEE/ASME Trans. on Mechatronics, vol. 1, no. 4, pp. 477-487, 2006.
23. Fite, K.B., Mitchell, J., Barth, E.J., and Goldfarb, M. A Unified Force Controller for a Proportional-Injector Direct-Injection Monopropellant-Powered Actuator, ASME J. of Dynamic Systems, Measurement and Control, vol. 128, no. 1, pp. 159-164, 2006.
24. Fite, K.B., and Goldfarb, M., "Design and Energetic Characterization of a Proportional-Injector Monopropellant-Powered Actuator," IEEE/ASME Trans. on Mechatronics, vol. 11, no. 2, pp. 196-204, 2006.
25. In Search of the perfect battery, Economist, vol. 386, no. 8570, pp. 22-24, 2008.
26. Clauser CE, McConville JT, Young JM, "Weight, volume and center of mass of segments of the human body." AMRL-TR-69-70, Wright Patterson Airforce Base, Dayton, Ohio, 1969.