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Variable stiffness actuated prosthetic knee to restore knee buckling during stance: a modeling study
E C Wentink1, H F J M Koopman, S Stramigioli
1University of Twente, Biomedical Signals and Systems, Drienerlolaan 5, 7500AE Enschede, The Netherlands. e.c.wentink@utwente.nl
Medical Engineering & Physics
|September 25, 2012
Summary
Energy efficient variable stiffness control (VSA) in prosthetic knees can reduce energy use and assist extension. This study proposes and models a VSA system to improve prosthetic knee function during walking disturbances.
Area of Science:
- Biomedical Engineering
- Robotics
- Biomechanics
Background:
- Modern intelligent knee prostheses often use dampers, which dissipate energy and hinder knee extension.
- Existing prosthetic knee designs face challenges in energy efficiency and active assistance during gait.
Purpose of the Study:
- To propose and analyze an energy-efficient variable stiffness control (VSA) design for prosthetic knees.
- To evaluate the VSA concept's ability to modulate dynamic behavior and assist knee extension using stored energy.
Main Methods:
- A novel energy-efficient VSA principle for prosthetic knees was designed.
- A double pendulum model simulated the human leg's stance phase, focusing on disturbance rejection.
- Simulations evaluated the VSA's effectiveness in preserving normal gait characteristics and rejecting disturbances like an unlocked knee at heel strike.
Main Results:
- The VSA concept allows output stiffness adjustment without altering stored elastic energy.
- Simulations determined optimal spring stiffness ranges for maintaining normal gait and rejecting common prosthetic gait disturbances.
- The VSA system demonstrated potential for effective control of prosthetic knees.
Conclusions:
- Energy-efficient variable stiffness control (VSA) offers a promising approach for advanced prosthetic knee functionality.
- The proposed VSA design can improve energy efficiency and dynamic response in transfemoral prosthetic gait.
- This technology has the potential to enhance the performance and user experience of intelligent prosthetic knees.
