On Transfemoral Prosthetic Knee Design for Natural Human Knee Motion

Lee, Wen-Tzong; Russell, Kevin; Sodhi, Raj S.

doi:10.2174/2212797613666191219154947

Cited by 4 publications

(6 citation statements)

References 15 publications

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“…In the design method for human transfemoral prosthetic knees, the axodes can be replaced with circular gears without loss of tibia position accuracy. 1,2 This is due to the near circular axode curvature of human knees during gait. In comparison, circular gear replacement is not an option with the canine test subject (without significant loss in tibia position accuracy) since its axodes are not circular.…”

Section: Discussionmentioning

confidence: 99%

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On the application of spatial four-bar motion and axode generation for the design of a prosthetic canine knee joint

Russell,

Chung,

Lin

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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The novelty of this work is that for the first time, spatial four-bar linkage motion generation and axode generation models have been applied for the design of a joint to replicate natural canine knee motion. This canine knee design method incorporates spatial four-bar Revolute-Revolute-Spherical-Spherical linkage motion generation and axode generation models to ultimately produce the rolling cam surfaces needed to produce natural spatial canine knee motion. This work presents the latest findings from an ongoing study where a transfemoral prosthetic knee design method is being applied to produce concept prosthetic knee joints for canines that replicate natural spatial knee motion during treadmill gait. To date, this study has considered three canine subjects, ranging from ages 1.1 to 10 years and treadmill speeds ranging from 1.3 to 2.9 km/h.

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Section: Discussionmentioning

confidence: 99%

“…1 This method produced a patented prosthetic knee design. 2 Figure 1 includes the stages of the design method. In the first stage, the natural tibio-femoral positions during gait are measured.…”

Section: Introductionmentioning

confidence: 99%

On the application of spatial four-bar motion and axode generation for the design of a prosthetic canine knee joint

Russell,

Chung,

Lin

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…Fixed and moving centrodes can be used as pitch curves for noncircular gears. Circles can also be fitted for the centrode points and used as pitch circles for circular gears (Lee et al, 2020). Gears offer the advantage of higher torque capacity over cam surfaces since the latter relies on friction to maintain slip-free rolling motion.…”

Section: Discussionmentioning

confidence: 99%

“…The rolling motion of the moving centrode over the fixed centrode of a given four-bar linkage perfectly replicates its coupler motion (Russell et al, 2019). Centrodes can be used to design cam or gear systems that replicate the desired coupler motion of a planar four-bar linkage (Lee et al, 2020).…”

Section: Centrode Generation and Cam Designmentioning

confidence: 99%

A dual cam system for four-bar motion generation with adjustable length crank and follower links

Lee

Al-Smadi

Russell

2021

JAMDSM

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The objective in planar four-bar motion generation is to calculate the linkage dimensions required to achieve a group of prescribed coupler positions. For a given planar four-bar motion generator however, the rolling motion of its moving centrode over its fixed centrode will replicate its coupler motion. The curvature of the fixed and moving centrodes can be incorporated as contact surfaces in a rolling cam system to replicate the coupler motion of a planar four-bar motion generator. While the advantages that cam-based systems have over four-bar linkage-based systems are application-specific, some of the advantages relate to system workspace (having a more compact design), structural soundness (having a greater load bearing capacity) and design simplicity (utilizing fewer components). While design methods for cam-based systems have been developed for conventional non-adjustable four-bar motion generators, no such method has been presented for the adjustable planar four-bar motion generator. Given the design advantages associated with cam-based systems along with an absence of published work in the design of cam-based systems for adjustable motion generation, an opportunity exists to contribute to the body of knowledge in this area. This work presents for the first time a design method for a dual cam system to replicate the coupler motion of an adjustable planar four-bar motion generator. This design method incorporates an optimization model for defect-free adjustable planar four-bar motion generation. The adjustments considered in the optimization model are adjustable crank and follower moving pivots with adjustable crank and follower link lengths. This design method also incorporates centrode generation equations for the adjustable planar four-bar motion generator. As an example, the centrodes generated for a calculated adjustable motion generator were incorporated into a computer-aided design model to produce a concept dual cam system.

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“…Transfemoral prosthetic legs are necessary technical aids for above-the-knee amputees, partially fabricated regarding artificial knee mechanics [1][2][3]. Conventional transfemoral prosthetic legs are pin-joint-based designs or polycentric designs.…”

Section: Introductionmentioning

confidence: 99%

Knee Angle Generation with Walking Speed Adaptation Ability for a Powered Transfemoral Prosthetic Leg Prototype

Pranata

Nguyen

et al. 2023

Inventions

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This paper presents a microcontroller-based solution for generating real-time normal walking knee angle of a powered transfemoral prosthetic leg prototype. The proposed control algorithm was used to determine the prosthetic knee angle by utilizing seven hip angle movement features generated from only the inertia measurement unit (IMU) deployed on the prosthetic socket on the thigh of the same side. Then, a proportional–integral–derivative (PID) controller is developed to control the motor to reach the desired knee angle in real time. Furthermore, a novel parallel four-bar linkage-based master–slave validation framework combining a motion capture system was introduced to evaluate the performance of the knee angle generation on a speed-adjustable treadmill with able-bodied subjects. In the framework evaluation, 3 different walking speeds were applied to the treadmill to validate different speed adaptation capabilities of the prosthetic leg control system, precisely 50 cm/s, 60 cm/s, and 70 cm/s. Through the proposed 4-bar linkage framework, the prosthesis’s movement can simulate able-bodied subjects well with maximum RMSE never exceeding 0.27° in the swing flexion phase, 4.4° to 5.8° in the stance phase, and 1.953° to 13.466° in the swing extension phase. The treadmill results showed that the prosthetic leg is able to perform a normal walking gait following different walking speeds of the subject. Finally, a corridor walking experiment with a bypass adapter was successfully performed to examine the feasibility of real prosthetic walking situations.

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On Transfemoral Prosthetic Knee Design for Natural Human Knee Motion

Cited by 4 publications

References 15 publications

On the application of spatial four-bar motion and axode generation for the design of a prosthetic canine knee joint

On the application of spatial four-bar motion and axode generation for the design of a prosthetic canine knee joint

A dual cam system for four-bar motion generation with adjustable length crank and follower links

Knee Angle Generation with Walking Speed Adaptation Ability for a Powered Transfemoral Prosthetic Leg Prototype

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