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

68 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 - 2009
Externally publishedYes
Event2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009 - Kyoto, Japan
Duration: Jun 23 2009Jun 26 2009

Other

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

Fingerprint

Biomechanics
Torque
Experiments
Prostheses and Implants
Sensors

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering

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] 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.

Research output: Chapter in Book/Report/Conference proceedingConference 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, 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 https://doi.org/10.1109/ICORR.2009.5209625
Sup, Frank ; Varol, Huseyin Atakan ; Mitchell, Jason ; Withrow, Thomas J. ; Goldfarb, Michael. / Self-contained powered knee and ankle prosthesis : Initial evaluation on a transfemoral amputee. 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009. 2009. pp. 638-644
@inproceedings{66fa0fbbfcf3460a9bffd73094207b66,
title = "Self-contained powered knee and ankle prosthesis: Initial evaluation on a transfemoral amputee",
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.",
author = "Frank Sup and Varol, {Huseyin Atakan} and Jason Mitchell and Withrow, {Thomas J.} and Michael Goldfarb",
year = "2009",
doi = "10.1109/ICORR.2009.5209625",
language = "English",
isbn = "9781424437894",
pages = "638--644",
booktitle = "2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009",

}

TY - GEN

T1 - Self-contained powered knee and ankle prosthesis

T2 - Initial evaluation on a transfemoral amputee

AU - Sup, Frank

AU - Varol, Huseyin Atakan

AU - Mitchell, Jason

AU - Withrow, Thomas J.

AU - Goldfarb, Michael

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.

UR - http://www.scopus.com/inward/record.url?scp=70449331675&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=70449331675&partnerID=8YFLogxK

U2 - 10.1109/ICORR.2009.5209625

DO - 10.1109/ICORR.2009.5209625

M3 - Conference contribution

AN - SCOPUS:70449331675

SN - 9781424437894

SP - 638

EP - 644

BT - 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009

ER -