Self-contained powered knee and ankle prosthesis: Initial evaluation on a transfemoral amputee

Frank Sup, Huseyin Atakan Varol, Jason Mitchell, Thomas J. Withrow, Michael Goldfarb

Research output: Chapter in Book/Report/Conference proceedingConference contribution

72 Citations (Scopus)

Abstract

This paper presents an overview of the design and control of a fully self-contained prosthesis, which is intended to improve the mobility of transfemoral amputees. A finite-state based impedance control approach, previously developed by the authors, is used for the control of the prosthesis during walking and standing. The prosthesis was tested on an unilateral amputee subject for over-ground walking. Prosthesis sensor data (joint angles and torques) acquired during level ground walking experiments at a self-selected cadence demonstrates the ability of the device to provide a functional gait similar to normal gait biomechanics. Battery measurements during level ground walking experiments show that the self-contained device provides over 4,500 strides (9.0 km of walking at a speed of 5.1 km/h) between battery charges.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009
Pages638-644
Number of pages7
DOIs
Publication statusPublished - Nov 17 2009
Event2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009 - Kyoto, Japan
Duration: Jun 23 2009Jun 26 2009

Publication series

Name2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009

Other

Other2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009
CountryJapan
CityKyoto
Period6/23/096/26/09

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Self-contained powered knee and ankle prosthesis: Initial evaluation on a transfemoral amputee'. Together they form a unique fingerprint.

  • Cite this

    Sup, F., Varol, H. A., Mitchell, J., Withrow, T. J., & Goldfarb, M. (2009). Self-contained powered knee and ankle prosthesis: Initial evaluation on a transfemoral amputee. In 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009 (pp. 638-644). [5209625] (2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009). https://doi.org/10.1109/ICORR.2009.5209625