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Design and Control of a Pneumatically Actuated Transtibial Prosthesis
1Department of Mechanical Engineering The University of Alabama 359 H.M. Comer Hall, Box 870276 Tuscaloosa, AL 35487-0276.
Journal of Bionic Engineering
|July 7, 2015
Summary
This study introduces a novel, lightweight transtibial prosthesis powered by a pneumatic actuator. Human trials demonstrate it enables a natural walking gait and sufficient power for amputee users.
Area of Science:
- Biomedical Engineering
- Rehabilitation Robotics
- Prosthetics and Orthotics
Background:
- Traditional electric motor-powered prostheses have limitations.
- Pneumatic actuators offer advantages like light weight, low cost, and high power-to-weight ratio.
- There is a need for compact and lightweight transtibial prostheses.
Purpose of the Study:
- To design and control a pneumatically actuated transtibial prosthesis.
- To leverage the benefits of pneumatic actuators for improved prosthetic function.
- To develop a prosthesis capable of supporting user locomotion.
Main Methods:
- Detailed design of the prosthesis, including performance specifications and actuation mechanism.
- Calculation of torque capacity to support a 75 kg individual.
- Formulation of a finite-state impedance controller based on biomechanical analysis.
Main Results:
- The designed prosthesis provides sufficient range of motion and torque capacity.
- Human subject testing confirmed the ability to generate a natural walking gait.
- Sufficient power output was achieved for the amputee user.
Conclusions:
- Pneumatically actuated transtibial prostheses are a viable and advantageous alternative.
- The developed prosthesis effectively supports user locomotion with a natural gait.
- This technology holds promise for improving the quality of life for amputees.
