Design, control, and validation of a polycentric hybrid knee prosthesis

Wang, X ORCID: https://orcid.org/0000-0002-0348-3103, Zhang, Y, Liang, W, Chen, W, Xiu, H ORCID: https://orcid.org/0000-0002-7821-125X, Ren, L ORCID: https://orcid.org/0000-0003-3222-2102, Wei, G ORCID: https://orcid.org/0000-0003-2613-902X and Ren, L ORCID: https://orcid.org/0000-0003-1102-8482 2022, 'Design, control, and validation of a polycentric hybrid knee prosthesis' , IEEE Transactions on Industrial Electronics , pp. 1-11.

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Abstract

This paper presents a novel polycentric hybrid knee prosthesis (PHKP) by enabling a multi-bar linkage to work for high-torque activities in active mode and for low-torque activities in passive mode. The mode transition is implemented by a servo-controlled telescopic slide rails. Distinguished from the single-axis hybrid knee prostheses, the PHKP Knee provides geometric stability in stance and notably increases toe clearance in swing by using an optimally designed instantaneous center of rotation (ICR) trajectory. In active mode, the PHKP Knee provides high transmission ratio and continuous peak torque offering sufficient support for torque-demanding activities. Impedance control was employed to regulate joint torque as a response to knee motion in the active mode. It was found that due to the inherent geometric stability of the polycentric mechanism in stance, the damping coefficient of the controller can be tuned much smoother than the single-axis knees leading to more compliant and comfortable interactions among the wearer, the prosthesis and the ground. The stair ascent tests showed that the joint angle and torque profiles of the PHKP Knee are similar to those of the able-bodied by demonstrating a step-over-step pattern with a peak angle of 73 deg and a maximum torque of 0.92 Nm/Kg.

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 Transactions on Industrial Electronics
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
ISSN: 1557-9948
Funders: National Key R&D Program of China
SWORD Depositor: Publications Router
Depositing User: Publications Router
Date Deposited: 24 Nov 2022 09:01
Last Modified: 24 Nov 2022 09:01
URI: https://usir.salford.ac.uk/id/eprint/65336

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