Design of a Semi-Active Knee-Ankle Prosthesis

摘要：

This paper proposes a design for a knee-ankle prosthesis which ultimately controls two linear hydraulic actuators using a single pump. The design takes advantage of the fact that the knee and ankle never produce large positive powers simultaneously during stair-climbing, and that the ankle produces more positive power than the knee during walking. This makes the prosthesis lighter and smaller. During walking, the ankle joint adds forward propulsive power similar to that of an intact ankle. During stair climbing, the knee joint provides assistance like that of an intact knee. The hydraulic nature of the prosthetic allows it to function in a semi-active mode, where it behaves similar to a microcontroller controlled passive transfemoral prosthesis.

作者: Minerva V. Pillai H. Kazerooni Andrew Hurwich

作者单位: Mechanical Engineering Department at University of California,Berkeley CA 94720

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 5293-5300

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）