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

doi:10.1109/ICORR.2009.5209625

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

Department of Robotics and Mechatronics

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009
Pages	638-644
Number of pages	7
DOIs	https://doi.org/10.1109/ICORR.2009.5209625
Publication status	Published - Nov 17 2009
Event	2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009 - Kyoto, Japan Duration: Jun 23 2009 → Jun 26 2009

Publication series

Name	2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009

Other

Other	2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009
Country	Japan
City	Kyoto
Period	6/23/09 → 6/26/09

ASJC Scopus subject areas

Computer Vision and Pattern Recognition
Electrical and Electronic Engineering

Access to Document

10.1109/ICORR.2009.5209625

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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

Self-contained powered knee and ankle prosthesis : Initial evaluation on a transfemoral amputee. / Sup, Frank; Varol, Huseyin Atakan; Mitchell, Jason; Withrow, Thomas J.; Goldfarb, Michael.

2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009. 2009. p. 638-644 5209625 (2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Sup, F, Varol, HA, Mitchell, J, Withrow, TJ & 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., 5209625, 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009, pp. 638-644, 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009, Kyoto, Japan, 6/23/09. https://doi.org/10.1109/ICORR.2009.5209625

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

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