Mechatronic Design of A Low-Noise Active Knee Prosthesis with High Backdrivability

Guoxiang Fu; Jinying Zhu; Zilu Wang; Jingeng Mai; Qining Wang

ICRA 2021poster5 citations

Mechatronic Design of A Low-Noise Active Knee Prosthesis with High Backdrivability

Guoxiang Fu, Jinying Zhu, Zilu Wang, Jingeng Mai, Qining Wang

Abstract

In this paper, we present a low-damping active knee prosthesis (LDKP) with low noise and high backdrivability. The proposed prosthesis is driven by a motor and then decelerated by a four-stage synchronous belt. High backdrivability given by this structure accelerates the prosthetic response. A control system containing several sensors are embedded in the proposed prosthesis to recognize different modes and provide corresponding strategies. Preliminary experiments were carried out on a transfemoral amputee subject, demonstrating the features of low noise, high backdrivability and ability to reproduce natural walking gaits.

BibTeX

@inproceedings{icra2021_mechatronicdesig,
  title = {Mechatronic Design of A Low-Noise Active Knee Prosthesis with High Backdrivability},
  author = {Guoxiang Fu and Jinying Zhu and Zilu Wang and Jingeng Mai and Qining Wang},
  booktitle = {ICRA 2021},
  year = {2021}
}