NDLI: Design and Control of a Powered Knee and Ankle Prosthesis

Content Provider	IEEE Xplore Digital Library
Author	Sup, F. Bohara, A. Goldfarb, M.
Copyright Year	2007
Description	Author affiliation: Dept. of Mech. Eng., Vanderbilt Univ., Nashville, TN (Sup, F.; Bohara, A.; Goldfarb, M.)
Abstract	This paper describes the design and control of a transfemoral prosthesis with pneumatically powered knee and ankle joints. The current version of the prosthesis serves as a laboratory testbed for purposes of controller development and testing, and as such is tethered for both power and control. A subsequent version will be self-contained, with on-board control and hot gas (monopropellant) actuation. This paper presents the design of the prosthesis prototype, which is in essence a two degree-of-freedom powered robot mechanically attached to a user, and describes an impedance-based control approach that coordinates the motion of the prosthesis and user for the control of level walking. The control approach is implemented on the prosthesis prototype, and experimental results are shown that indicate the effectiveness of the active prosthesis and control approach in restoring fully powered level walking to the user. Finally, an accompanying video demonstrates the functioning prosthesis in level walking.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	4134
Ending Page	4139
File Size	7877900
Page Count	6
File Format	PDF
ISBN	1424406013
ISSN	10504729
DOI	10.1109/ROBOT.2007.364114
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-04-10
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Knee Prosthetics Legged locomotion Prototypes Torque Batteries DC motors Automatic control Testing Motion control
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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