Performance comparison and design of an optimal polycentric knee mechanism

Soriano, Juan F.; Rodríguez, Jorge; Valencia, L.

doi:10.1007/s40430-020-02313-6

Cited by 13 publications

(4 citation statements)

References 17 publications

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“…In this section, the data in the references regarding the structure, actuation, and control of the prosthetic knee joint are quantitatively analyzed in depth. Because the structural parameters, actuation parameters, and control parameters of the prosthetic knee joint in each reference are not uniform, and the implementation schemes and effects of various prosthetic knee joints are also different, this paper adopted some typical comparative analysis method [67][68][69] and evaluated the performance indices of the introduced structures, actuation, and control of the prosthetic knee joint.…”

Section: Development Status Of the Robotic Knee Prosthesismentioning

confidence: 99%

Review of Recent Progress in Robotic Knee Prosthesis Related Techniques: Structure, Actuation and Control

Sun

Tang

et al. 2021

J Bionic Eng

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As the essential technology of human-robotics interactive wearable devices, the robotic knee prosthesis can provide above-knee amputations with functional knee compensations to realize their physical and psychological social regression. With the development of mechanical and mechatronic science and technology, the fully active knee prosthesis that can provide subjects with actuating torques has demonstrated a better wearing performance in slope walking and stair ascent when compared with the passive and the semi-active ones. Additionally, with intelligent human-robotics control strategies and algorithms, the wearing effect of the knee prosthesis has been greatly enhanced in terms of stance stability and swing mobility. Therefore, to help readers to obtain an overview of recent progress in robotic knee prosthesis, this paper systematically categorized knee prostheses according to their integrated functions and introduced related research in the past ten years (2010–2020) regarding (1) mechanical design, including uniaxial, four-bar, and multi-bar knee structures, (2) actuating technology, including rigid and elastic actuation, and (3) control method, including mode identification, motion prediction, and automatic control. Quantitative and qualitative analysis and comparison of robotic knee prosthesis-related techniques are conducted. The development trends are concluded as follows: (1) bionic and lightweight structures with better mechanical performance, (2) bionic elastic actuation with energy-saving effect, (3) artificial intelligence-based bionic prosthetic control. Besides, challenges and innovative insights of customized lightweight bionic knee joint structure, highly efficient compact bionic actuation, and personalized daily multi-mode gait adaptation are also discussed in-depth to facilitate the future development of the robotic knee prosthesis.

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Section: Development Status Of the Robotic Knee Prosthesismentioning

confidence: 99%

Review of Recent Progress in Robotic Knee Prosthesis Related Techniques: Structure, Actuation and Control

Sun

Tang

et al. 2021

J Bionic Eng

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“…Moreover, a new passive polycentric knee was proposed in [6], which was designed by a method for performance comparison of commercial knees. [7] introduced a new four-bar knee with optimizing design parameters by genetic algorithm. Though passive knees are simple and robust, they are incapable of providing net-positive energy for torque-demanding activities like going upstairs and sit-to-stand [8].…”

Section: Introductionmentioning

confidence: 99%

“…Due to the unique mechanical design, the Utah Hybrid Knee weighed 1.68 kg which is close to the microprocessor-controlled knee and lighter than the fully active knee. Moreover, the RIC Hy- MIT CSEA Knee [9] Vanderbilt Gen. 3 Knee [10] Open-Source Knee [11] Michigan Knee [12] Ossur POWER KNEE TM Utah Hybrid Knee [15] RIC Knee [16] Polycentric Ossur Total Knee Blatchford KX06 Anand et al [6] Soriano et al [7] Geng et al [13] Our PHKP Knee brid Knee [16] is proposed, with a motorized clutch transition mechanism, and preliminary experiments were carried out by an able-bodied subject using a bypass orthosis. However, the Utah Hybrid Knee and RCI Knee are single-axis structural joints with relatively poor stability in stance and low toe clearance in swing.…”

Section: Introductionmentioning

confidence: 99%

Design, Control, and Validation of a Polycentric Hybrid Knee Prosthesis

Wang

Zhang

Liang

et al. 2023

IEEE Trans. Ind. Electron.

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This paper presents a novel polycentric hybrid knee prosthesis (PHKP) by enabling a multi-bar linkage to work for high-torque activities in active mode and for lowtorque activities in passive mode. The mode transition is implemented by a servo-controlled telescopic slide rails. Distinguished from the single-axis hybrid knee prostheses, the PHKP Knee provides geometric stability in stance and notably increases toe clearance in swing by using an optimally designed instantaneous center of rotation (ICR) trajectory. In active mode, the PHKP Knee provides high transmission ratio and continuous peak torque offering sufficient support for torque-demanding activities. Impedance control was employed to regulate joint torque as a response to knee motion in the active mode. It was found that due to the inherent geometric stability of the polycentric mechanism in stance, the damping coefficient of the controller can be tuned much smoother than the single-axis knees leading to more compliant and comfortable interactions among the wearer, the prosthesis and the ground. The stair ascent tests showed that the joint angle and torque profiles of the PHKP Knee are similar to those of the able-bodied by demonstrating a step-over-step pattern with a peak angle of 73°and a maximum torque of 0.92 Nm/Kg.

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“…Review articles about passive knees concentrate on polycentric mechanisms and structure optimization. The design, modeling, kinematics, and stability of a knee that was based on a four-bar linkage have been a main topic of prosthesis research for the past decade ( Andrysek, 2010 ; Amador et al, 2011 ; Anand and Sujatha, 2017 ; Andrysek et al, 2019 ; Mohanty et al, 2020 ; Soriano et al, 2020 ). Microprocessor-controlled knees (MPKs) can automatically adjust damping characteristics through external sensors and servo valves, which provide a wider range of self-selected speeds and augmented stability.…”

Section: Introductionmentioning

confidence: 99%

Mechanisms and component design of prosthetic knees: A review from a biomechanical function perspective

Liang

Qian

Chen

et al. 2022

Front. Bioeng. Biotechnol.

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Prosthetic knees are state-of-the-art medical devices that use mechanical mechanisms and components to simulate the normal biological knee function for individuals with transfemoral amputation. A large variety of complicated mechanical mechanisms and components have been employed; however, they lack clear relevance to the walking biomechanics of users in the design process. This article aims to bridge this knowledge gap by providing a review of prosthetic knees from a biomechanical perspective and includes stance stability, early-stance flexion and swing resistance, which directly relate the mechanical mechanisms to the perceived walking performance, i.e., fall avoidance, shock absorption, and gait symmetry. The prescription criteria and selection of prosthetic knees depend on the interaction between the user and prosthesis, which includes five functional levels from K0 to K4. Misunderstood functions and the improper adjustment of knee prostheses may lead to reduced stability, restricted stance flexion, and unnatural gait for users. Our review identifies current commercial and recent studied prosthetic knees to provide a new paradigm for prosthetic knee analysis and facilitates the standardization and optimization of prosthetic knee design. This may also enable the design of functional mechanisms and components tailored to regaining lost functions of a specific person, hence providing individualized product design.

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Performance comparison and design of an optimal polycentric knee mechanism

Cited by 13 publications

References 17 publications

Review of Recent Progress in Robotic Knee Prosthesis Related Techniques: Structure, Actuation and Control

Review of Recent Progress in Robotic Knee Prosthesis Related Techniques: Structure, Actuation and Control

Design, Control, and Validation of a Polycentric Hybrid Knee Prosthesis

Mechanisms and component design of prosthetic knees: A review from a biomechanical function perspective

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