Self-contained powered knee and ankle prosthesis: Initial evaluation on a transfemoral amputee

2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009

Volumn , Issue , 2009, Pages 638-644

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

^a VANDERBILT UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DESIGN AND CONTROL; FINITE-STATE; FUNCTIONAL GAIT; IMPEDANCE CONTROL; JOINT ANGLE; SENSOR DATA;

ARTIFICIAL LIMBS; BIOMECHANICS; PATIENT REHABILITATION; ROBOTICS;

JOINT PROSTHESES;

EID: 70449331675     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICORR.2009.5209625     Document Type: Conference Paper

References (34)

1. P. F. Adams, G. E. Hendershot, and M. A. Marano, "Current estimates from the National Health Interview Survey, 1996," National Center for Health Statistics. Vital Health Stat 10(200), 1999.
2. J. Feinglass, J. L. Brown, A. LaSasso, M. W. Sohn, L. M. Manheim, S. J. Shah, and W. H. Pearce, "Rates of lower-extremity amputation and arterial reconstruction in the United States, 1979 to 1996," American J. of Public Health, vol. 89, no. 8, pp. 1222-1227, Aug, 1999.
3. D. Winter, The Biomechanics and Motor Control of Human Gait: Normal, Elderly and Pathological, 2nd ed.: University of Waterloo Press, 1991.
4. D. A. Winter, and S. E. Sienko, "Biomechanics of below-knee amputee gait," J. of Biomechanics, vol. 21, no. 5, pp. 361-367, 1988.
5. P. DeVita, M. Torry, K. L. Glover, and D. L. Speroni, "A functional knee brace alters joint torque and power patterns during walking and running," J. of Biomechanics, vol. 29, no. 5, pp. 583-588, May, 1996.
6. R. Jacobs, M. F. Bobbert, and G. J. van Ingen Schenau, "Mechanical output from individual muscles during explosive leg extensions: The role of biarticular muscles," J. of Biomechanics, vol. 29, no. 4, pp. 513-523, Apr, 1996.
7. S. Nadeau, B. J. McFadyen, and F. Malouin, "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, Dec, 2003.
8. A. Nagano, Y. Ishige, and S. Fukashiro, "Comparison of new approaches to estimate mechanical output of individual joints in vertical jumps," J. of Biomechanics, vol. 31, no. 10, pp. 951-955, Oct, 1998.
9. B. I. Prilutsky, L. N. Petrova, and L. M. Raitsin, "Comparison of mechanical energy expenditure of joint moments and muscle forces during human locomotion," J. of Biomechanics, vol. 29, no. 4, pp. 405-415, Apr, 1996.
10. R. Riener, M. Rabuffetti, and C. Frigo, "Joint powers in stair climbing at different slopes," Proc. of the First Joint BMES/EMBS Conf., vol. 1, pp. 530 vol.1, 1999.
11. R. L. Waters, J. Perry, D. Antonelli, and H. Hislop, "Energy cost of walking of amputees - Influence of level of amputation," J. of Bone and Joint Surgery-American Vol., vol. 58, no. 1, pp. 42-46, 1976.
12. M. Donath, "Proportional EMG control for above knee prostheses," Massachusetts Institute of Tech. Dept. of Mechanical Eng. Thesis. M.S., 1974.
13. W. C. Flowers, "A man-interactive simulator system for above-knee prosthetics studies," Massachusetts Institute of Tech. Dept. of Mechanical Eng. Thesis. Ph.D., 1973.
14. W. C. Flowers, and R. W. Mann, "Electrohydraulic knee-torque controller for a prosthesis simulator," ASME J. of Biomechanical Engineering, vol. 99, no. 4, pp. 3-8, 1977.
15. D. L. Grimes, "An active multi-mode above knee prosthesis controller," Massachusetts Institute of Tech. Dept. of Mechanical Eng. Thesis Ph.D., 1979.
16. D. L. Grimes, W. C. Flowers, and M. Donath, "Feasibility of an active control scheme for above knee prostheses," ASME J. of Biomechanical Engineering, vol. 99, no. 4, pp. 215-221, 1977.
17. J. L. Stein, and W. C. Flowers, "Stance phase-control of above-knee prostheses - Knee control versus SACH foot design," J. of Biomechanics, vol. 20, no. 1, pp. 19-28, 1987.
18. J. L. Stein, and Massachusetts Institute of Technology. Dept. of Mechanical Engineering., "Design issues in the stance phase control of above-knee prostheses," Massachusetts Institute of Tech. Dept. of Mechanical Eng. Thesis Ph.D., 1983.
19. D. Popovic, and L. Schwirtlich, "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.
20. S. Bedard, and P. Roy, Actuated leg prosthesis for above-knee amputees, 7,314,490, U. S. Patent, June 17, 2003.
21. E. Martinez- Villalpando, J. Weber, G. Elliott, and H. Herr, "Design of an agonist-antagonist active knee prosthesis," Proc. IEEE/RAS-EMBS Int. Conf. on Biomedical Robotics and Biomechatronics, pp. 529-534, 2008.
22. G. K. Klute, J. Czerniecki, and B. Hannaford, "Muscle-like pneumatic actuators for below-knee prostheses," Proc. 7th Int. Conf. on New Actuators, pp. 289-292, 2000.
23. W. Koniuk, Self-adusting prosthetic ankle apparatus, 6,443,993, U. S. Patent, March, 23, 2001.
24. R. Bellman, A. Holgate, and T. Sugar, "SPARKy 3: Design of an active robotic ankle prosthesis with two actuated degrees of freedom using regenerative kinetics," Proc. IEEE/RAS-EMBS Int. Conf. on Biomedical Robotics and Biomechatronics, pp. 511-516, 2008.
25. S. Au, and H. Herr, "Powered ankle-foot prosthesis," IEEE Robotics & Automation Magazine, vol. 15, pp. 52-59, 2008.
26. F. Sup, A. Bohara, and M. Goldfarb, "Design and control of a powered transfemoral prosthesis," Int. J. of Robotics Research, vol. 27, no. 2, pp. 263-273, Feb, 2008.
27. K. B. Fite, and M. Goldfarb, "Design and energetic characterization of a proportional-injector monopropellant-powered actuator," IEEE/ASME Trans. on Mechatronics, vol. 11, no. 2, pp. 196-204, Apr, 2006.
28. K. B. Fite, J. E. Mitchell, E. J. Barth, and M. Goldfarb, "A unified force controller for a proportional-injector direct-injection monopropellant-powered actuator," J. of Dynamic Systems Measurement and Control Trans. of ASME, vol. 128, no. 1, pp. 159-164, Mar, 2006.
29. M. Goldfarb, E. J. Barth, M. A. Gogola, and J. A. Wehrmeyer, "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.
30. B. L. Shields, K. B. Fite, and M. Goldfarb, "Design, control, and energetic characterization of a solenoid-injected monopropellant-powered actuator," IEEE/ASME Trans. on Mechatronics, vol. 11, no. 4, pp. 477-487, Aug, 2006.
31. "In search of the perfect battery," Economist, vol. 386, no. 8570, pp. 22-24, 2008.
32. H. A. Varol, F. Sup, and M. Goldfarb, "Real-time gait mode intent recognition of a powered knee and ankle prosthesis for standing and walking," Proc. IEEE/RAS-EMBS Int. Conf. on Biomedical Robotics and Biomechatronics, pp. 66-72, 2008.
33. M. Traballesi, P. Porcacchia, T. Averna, and S. Brunelli, "Energy cost of walking measurements in subjects with lower limb amputations: A comparison study between floor and treadmill test," Gait & Posture, vol. 27, no. 1, pp. 70-75, Jan, 2008.
34. S. Blumentritt, H. Scherer, U. Wellershaus, and J. Michael, "Design principles, biomechanical data and clinical experience with a polycentric knee offering controlled stance phase knee flexion: A preliminary report," J. of Prosthetics and Orthotics, vol. 9, no. 1, pp. 18-24, 1997.