Design and validation of a polycentric hybrid knee prosthesis with electromagnet-controlled mode transition

Wang, X ORCID:, Xiu, H ORCID:, Zhang, Y, Liang, W, Chen, W, Wei, G ORCID:, Ren, L ORCID: and Ren, L ORCID: 2022, 'Design and validation of a polycentric hybrid knee prosthesis with electromagnet-controlled mode transition' , IEEE Robotics and Automation Letters, 7 (4) , pp. 10502-10509.

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A hybrid knee prosthesis is proposed in this letter, which consists of a polycentric structure in passive mode for low-torque activities and a single-axis structure in active mode for high-torque activities. A novel mode transition mechanism controls self-holding electromagnets for switching modes between the four-bar linkage and single-axis structure. Compared with the conventional single-axis hybrid knee, the four-bar polycentric mechanism with varying instantaneous center of rotation (ICR) can enhance the geometric stability and increase the toe clearance in passive mode. For active mode, we developed a custom embedded electric system, employed torque control for stance and position control for swing. The results of bench tests indicated that the bandwidth of the controller was suitable for locomotion. The clinical test of level-ground walking without sudden buckling and stumble was validated by three subjects. Regarding climbing stairs, a typical high-torque activity in daily locomotion, all subjects reach the maximum knee torque around 0.95 Nm/kg comparable to the able-bodied.

Item Type: Article
Additional Information: © 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Schools: Schools > School of Computing, Science and Engineering
Journal or Publication Title: IEEE Robotics and Automation Letters
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
ISSN: 2377-3774
Funders: National Key R&D Program of China
SWORD Depositor: Publications Router
Depositing User: Publications Router
Date Deposited: 07 Sep 2022 12:19
Last Modified: 07 Sep 2022 12:30

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