Mechanism and Controller Design of a Transfemoral Prosthesis With Electrohydraulic Knee and Motor-Driven Ankle
| Autor: | Jingeng Mai, Qining Wang, Jinying Zhu, Siyuan Gao |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
Computer science
medicine.medical_treatment Swing DC motor Prosthesis Computer Science Applications Damper body regions Mechanism (engineering) medicine.anatomical_structure Control and Systems Engineering Control theory medicine Electrical and Electronic Engineering Ankle Actuator human activities Simulation |
| Zdroj: | IEEE/ASME Transactions on Mechatronics. 26:2429-2439 |
| ISSN: | 1941-014X 1083-4435 |
| DOI: | 10.1109/tmech.2020.3040369 |
| Popis: | This article presents a robotic transfemoral prosthesis that consists of an electrohydraulic knee and a motor-driven ankle. The electrohydraulic knee includes a controllable hydraulic damper to provide stance control and an electrical actuator to provide swing assistance. The motor-driven ankle provides damping adaptation for different terrains. The embedded finite-state-based controller enables the knee–ankle prosthesis to facilitate the amputee's ambulation on five different terrains. The proposed knee is lightweight and compact, with low electrical energy consumption. Experimental results demonstrate the potential advantages of the proposed transfemoral prosthesis compared with the hydraulic prosthesis daily used by the subject. |
| Databáze: | OpenAIRE |
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