The Influence of Four-Bar Linkage Knees on Prosthetic Swing-Phase Floor Clearance

Gard, Steven A.; Childress, Dudley S.; Uellendahl, Jack E.

doi:10.1097/00008526-199600820-00004

Cited by 52 publications

(13 citation statements)

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“…A so-called polycentric knee joint features a four-bar linkage, which alters the prosthesis behavior. These are primarily passive prostheses that are designed to increase stability during stance phase [48]. Just one active polycentric knee prosthesis was found in this review [49].…”

Section: Reviewmentioning

confidence: 99%

Active lower limb prosthetics: a systematic review of design issues and solutions

et al. 2016

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This paper presents a review on design issues and solutions found in active lower limb prostheses. This review is based on a systematic literature search with a methodical search strategy. The search was carried out across four major technical databases and the retrieved records were screened for their relevance. A total of 21 different active prostheses, including 8 above-knee, 9 below-knee and 4 combined knee-ankle prostheses were identified. While an active prosthesis may help to restore the functional performance of an amputee, the requirements regarding the actuation unit as well as for the control system are high and the development becomes a challenging task. Regarding mechanical design and the actuation unit high force/torque delivery, high efficiency, low size and low weight are conflicting goals. The actuation principle and variable impedance actuators are discussed. The control system is paramount for a “natural functioning” of the prosthesis. The control system has to enable locomotion and should react to the amputee’s intent. For this, multi-level control approaches are reviewed.

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Section: Reviewmentioning

confidence: 99%

Active lower limb prosthetics: a systematic review of design issues and solutions

et al. 2016

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“…Polycentric knees have been used in a number of walking robots and prosthetics because they can improve joint performance by improving toe clearance during swing phase [17] or to improve a walking robot's torque-angle curve, removing the low mechanical advantage regions that can occur at the extremes of motion in a pin jointed mechanism [18]. A condylar hinge is an example of a polycentric mechanism.…”

Section: B Related Workmentioning

confidence: 99%

Challenges in using compliant ligaments for position estimation within robotic joints

Russell

Gao

Ellison

et al. 2017

2017 International Conference on Rehabilitation Robotics (ICORR)

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Abstract-The mechanical advantages of bio-inspired condylar robotic knee joints for use in prosthetics or rehabilitation has been argued extensively in literature. A common limitation of these designs is the difficulty of estimating joint angle and therefore accurately controlling the joint. Furthermore, the potential role of ligament-like structures in robotic knees is not very well established. In this work, we investigate the role of compliant stretch sensing ligaments and their integration into a condylar robotic knee. Simulations and experiments are executed out in order to establish whether measurement of stretch in these structures can be used to produce a new feedback controller for joint position. We report results from a computer model, as well as the design and construction of a robotic knee that show, for a chosen condyle shape, ligament stretch is a function of muscle force and joint velocity as well as joint angle. We have developed a genetic algorithm optimised controller incorporating ligament feedback that demonstrates improved performance for a desired joint angle in response to step inputs. The controller showed marginal improvement in response to a cyclic command signal and further investigation is required in order to use these measurements in robust control, nevertheless we believe these results demonstrate the that ligament-like structures have the potential to improve the performance of robotic knees for prosthetics and rehabilitation devices.

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“…† With the 3R60 knee, shortening of the shin section during flexion, as is characteristic for polycentric knees with a certain geometry [43], occurs in addition to a relative shortening of the whole prosthesis as with the bouncy knee. Therefore, with both knees undergoing the same amount of flexion, the overall relative shortening and shock absorption should theoretically be less with the bouncy knee than with the 3R60 knee.…”

Section: Longitudinal Translation Between Prosthetic Segmentsmentioning

confidence: 99%

Transverse rotation and longitudinal translation during prosthetic gait-A literature review

Twiste

Rithalia²

2003

JRRD

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Abstract-Improved technology allows for more accurate gait analysis to increase awareness of nonoptimized prosthetic gait patterns and for the manufacture of sophisticated prosthetic components to improve nonoptimized gait patterns. However, prescriptions are often based on intuition rather than rigorous research findings for evidence-based practice. The number of studies found in the literature that are based on prosthetic research regarding transverse rotation and longitudinal translation is small when compared to topics regarding other types of movements. Some design criteria for prosthetic components described in those studies that permit transverse rotation and longitudinal translation can be found in current designs. However, little research has been conducted to establish their effectiveness on the gait parameters and residual limb. This literature review is an investigation into these motions between the socket and the prosthetic foot, with particular reference to gait characteristics and prosthetic design criteria.

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The Influence of Four-Bar Linkage Knees on Prosthetic Swing-Phase Floor Clearance

Cited by 52 publications

References 0 publications

Active lower limb prosthetics: a systematic review of design issues and solutions

Active lower limb prosthetics: a systematic review of design issues and solutions

Challenges in using compliant ligaments for position estimation within robotic joints

Transverse rotation and longitudinal translation during prosthetic gait-A literature review

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