Implementation of a Novel Powered Ankle-Knee Prosthesis for Lower Limb Amputees and a Control Strategy Proposal
Ruben C. Martinez1, Roberto L. Avitia2, Marco A. Reyna3, Miguel M. Bravo4
1Ruben C. Martinez, Technological Institute for Rehabilitation, Mexicali, Mexico.
2Roberto L. Avitia, Department of Bioengineering and Environmental Health, Autonomous University of Baja California, Mexicali, Mexico.
3Marco A. Reyna, Department of Bioengineering and Environmental Health, Autonomous University of Baja California, Mexicali, Mexico.
4Miguel E. Bravo, Department of Bioengineering and Environmental Health, Autonomous University of Baja California, Mexicali, Mexico
Manuscript received on 15 June 2015 | Revised Manuscript received on 25 June 2015 | Manuscript Published on 30 June 2015 | PP: 174-177 | Volume-4 Issue-5, June 2015 | Retrieval Number: E4048064515/15©BEIESP
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: In this work we present the second stage of a powered ankle-knee prosthesis design and construction for individuals with a lower limb amputation. The prosthetic leg is composed of two modules; the knee module and ankle module, they can operate independently or in conjunction. The ankle module is comprised of a unidirectional spring configured in parallel with a linear actuator. This spring is intended to store energy in dorsiflexion, and then released it to assist power plantar flexion. The knee module consists of a series elastic actuator and a linear solenoid actuator attached to the actuators transmission. Also we are presenting a control strategy of the prosthesis, using techniques of force, position and impedance.
Keywords: Powered Prosthesis, Mechanical Design, Lower Limb Amputees.
Scope of the Article: Mechanical Design