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Engineering Platform and Experimental Protocol for Design and Evaluation of a Neurally-controlled Powered Transfemoral Prosthesis
Published on: July 22, 2014
Self-Contained Powered Knee and Ankle Prosthesis: Initial Evaluation on a Transfemoral Amputee
Frank Sup1, Huseyin Atakan Varol, Jason Mitchell
1Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235 USA.
Summary
This study introduces a self-contained transfemoral prosthesis controlled by finite-state impedance control. The device offers a functional gait for amputees and provides over 4,500 strides per battery charge.
Area of Science:
- Biomedical Engineering
- Robotics
- Rehabilitation Engineering
Background:
- Transfemoral amputees face mobility challenges.
- Existing prostheses may lack full autonomy or advanced control.
- Improved prosthetic mobility is crucial for quality of life.
Purpose of the Study:
- To present the design and control of a self-contained transfemoral prosthesis.
- To enhance mobility for transfemoral amputees.
- To evaluate the functional performance and battery life of the prosthesis.
Main Methods:
- Utilized a finite-state based impedance control approach.
- Tested the prosthesis on an unilateral amputee subject during over-ground walking.
- Acquired and analyzed prosthesis sensor data (joint angles, torques).
- Measured battery performance during level ground walking.
Main Results:
- The prosthesis demonstrated a functional gait similar to normal biomechanics.
- Achieved over 4,500 strides (9.0 km) per battery charge at a self-selected cadence.
- Sensor data confirmed effective control during walking and standing.
Conclusions:
- The self-contained transfemoral prosthesis effectively improves amputee mobility.
- The finite-state impedance control provides a functional and reliable gait.
- The device offers substantial battery life for practical daily use.
