TY - GEN
T1 - Self-contained powered knee and ankle prosthesis
T2 - 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009
AU - Sup, Frank
AU - Varol, Huseyin Atakan
AU - Mitchell, Jason
AU - Withrow, Thomas J.
AU - Goldfarb, Michael
N1 - Copyright:
Copyright 2009 Elsevier B.V., All rights reserved.
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
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U2 - 10.1109/ICORR.2009.5209625
DO - 10.1109/ICORR.2009.5209625
M3 - Conference contribution
AN - SCOPUS:70449331675
SN - 9781424437894
T3 - 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009
SP - 638
EP - 644
BT - 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009
Y2 - 23 June 2009 through 26 June 2009
ER -