Design and Evaluation of a Novel Microprocessor-Controlled Prosthetic Knee

Transfemoral amputees demand a mechatronic lower limb prosthesis as technical substitute for restoring their gait functions. Prosthetic knee is the key component of a transfemoral prosthesis. The performance of the prosthetic knee determines the walking ability of the transfemoral amputee. This study proposed a novel microprocessor-controlled prosthetic knee with hydraulic damper and evaluated the performance of the prosthetic knee by function simulation and evaluation platform. The prosthetic knee with electrical-controlled hydraulic cylinder that could modulate knee flexion and extension damping properties independently and continuously by single motor was designed. Gait phase identification system based on knee angle sensor, inertial measurement units mounted on thigh connector and shank and force transducer embedded in shank was proposed. Gait phase identification and damping control strategy were determined by typical gait events during walking. Speed adaption and gait symmetry tests were conducted with a customized gait simulator to evaluate the performance of the proposed microprocessor-controlled prosthetic knee. The angle trajectories of the prosthetic knee were similar under a range of walking speeds. While the symmetry index values indicated that the stance phase was more asymmetry than swing phase, the peak swing flexion knee angles were consistently controlled between 60–70 degrees under different speeds. The knee angle symmetry was observed in different speeds during swing phase. It is suggested that the proposed microprocessor-controlled prosthetic knee could meet the fundamental demands of walking with smooth angular transition across different walking speeds.

[1]  凯尔文·B·詹姆斯 System for controlling artificial knee joint action in an about knee prosthesis , 1992 .

[2]  Saeed Zahedi,et al.  Towards a Smart Semi-Active Prosthetic Leg: Preliminary Assessment and Testing , 2016 .

[3]  Urs Schneider,et al.  PBK - Powered Bionic Knee System , 2014, ISR 2014.

[4]  J Geeroms,et al.  Design and energetic evaluation of a prosthetic knee joint actuator with a lockable parallel spring , 2017, Bioinspiration & biomimetics.

[5]  Hongliu Yu,et al.  Target of physiological gait: Realization of speed adaptive control for a prosthetic knee during swing flexion. , 2018, Technology and health care : official journal of the European Society for Engineering and Medicine.

[6]  Hugh Herr,et al.  User-adaptive control of a magnetorheological prosthetic knee , 2003, Ind. Robot.

[7]  S. Sujatha,et al.  Optimal design of an MR damper valve for prosthetic knee application , 2018, Journal of Mechanical Science and Technology.

[8]  Robert Riener,et al.  Effects of sensory augmentation on postural control and gait symmetry of transfemoral amputees: a case description , 2016, Medical & Biological Engineering & Computing.

[9]  Xinyu Wu,et al.  Implementation of a Brain-Computer Interface on a Lower-Limb Exoskeleton , 2018, IEEE Access.

[10]  M Jason Highsmith,et al.  Functional performance differences between the Genium and C-Leg prosthetic knees and intact knees. , 2016, Journal of rehabilitation research and development.

[11]  Siamak Noroozi,et al.  Simulation of gait asymmetry and energy transfer efficiency between unilateral and bilateral amputees , 2016 .

[12]  Ari Wilkenfeld,et al.  Biologically inspired autoadaptive control of a knee prosthesis , 2000 .

[13]  Antonio Bicchi,et al.  Coordination Control of a Dual-Arm Exoskeleton Robot Using Human Impedance Transfer Skills , 2019, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[14]  Gerhard Schweitzer,et al.  Finite-state control of a trans-femoral (TF) prosthesis , 2002, IEEE Trans. Control. Syst. Technol..

[15]  Daniel P Ferris,et al.  Motor control and learning with lower-limb myoelectric control in amputees. , 2013, Journal of rehabilitation research and development.

[16]  Hugh M. Herr,et al.  Clutchable series-elastic actuator: Design of a robotic knee prosthesis for minimum energy consumption , 2013, 2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR).

[17]  Xinyu Wu,et al.  Individualized Gait Pattern Generation for Sharing Lower Limb Exoskeleton Robot , 2018, IEEE Transactions on Automation Science and Engineering.

[18]  Robert Riener,et al.  Review of the actuators of active knee prostheses and their target design outputs for activities of daily living , 2017, 2017 International Conference on Rehabilitation Robotics (ICORR).

[19]  Jia Liu,et al.  Image-Based Visual Servoing of Helical Microswimmers for Planar Path Following , 2020, IEEE Transactions on Automation Science and Engineering.

[20]  Homayoon Kazerooni,et al.  Design of a semi-active knee prosthesis , 2009, 2009 IEEE International Conference on Robotics and Automation.

[21]  J. Cai,et al.  Gait symmetry quantification during treadmill walking , 2001, The Seventh Australian and New Zealand Intelligent Information Systems Conference, 2001.

[22]  Hassan Sayyaadi,et al.  Optimization and Testing of a New Prototype Hybrid MR Brake With Arc Form Surface as a Prosthetic Knee , 2018, IEEE/ASME Transactions on Mechatronics.

[23]  M Jason Highsmith,et al.  Differences in knee flexion between the Genium and C-Leg microprocessor knees while walking on level ground and ramps. , 2015, Clinical biomechanics.

[24]  The effect of damping in prosthetic ankle and knee joints on the biomechanical outcomes: A literature review , 2017, Prosthetics and orthotics international.

[25]  Dan Simon,et al.  Semiactive virtual control of a hydraulic prosthetic knee , 2016, 2016 IEEE Conference on Control Applications (CCA).

[26]  Seung-Bok Choi,et al.  Design and control of a prosthetic leg for above-knee amputees operated in semi-active and active modes , 2016 .

[27]  Michael Goldfarb,et al.  Impact of Powered Knee-Ankle Prosthesis on Low Back Muscle Mechanics in Transfemoral Amputees: A Case Series , 2018, Front. Neurosci..

[28]  Ross A. Clark,et al.  Lower limb angular velocity during walking at various speeds. , 2018, Gait & posture.

[29]  Michael Goldfarb,et al.  A Powered Prosthetic Intervention for Bilateral Transfemoral Amputees , 2015, IEEE Transactions on Biomedical Engineering.

[30]  Robert D. Gregg,et al.  Continuous-Phase Control of a Powered Knee–Ankle Prosthesis: Amputee Experiments Across Speeds and Inclines , 2018, IEEE Transactions on Robotics.

[31]  Hafiz Farhan Maqbool,et al.  A Real-Time Gait Event Detection for Lower Limb Prosthesis Control and Evaluation. , 2016, IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society.

[32]  Ben Wang,et al.  Dynamic Morphology and Swimming Properties of Rotating Miniature Swimmers With Soft Tails , 2019, IEEE/ASME Transactions on Mechatronics.

[33]  Qiaoling Meng,et al.  The comparison of transfemoral amputees using mechanical and microprocessor- controlled prosthetic knee under different walking speeds: A randomized cross-over trial. , 2018, Technology and health care : official journal of the European Society for Engineering and Medicine.

[34]  Rafael Lima,et al.  An above-knee prosthesis with magnetorheological variable-damping , 2014, 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics.

[35]  Itthisek Nilkhamhang,et al.  Swing Phase Control of Semi-Active Prosthetic Knee Using Neural Network Predictive Control With Particle Swarm Optimization , 2016, IEEE Transactions on Neural Systems and Rehabilitation Engineering.