Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Development of a Powered Knee Prosthesis using a DC Motor

DC 모터를 이용한 동력 의족 시스템 개발

  • Kim, Won-Sik (Department of Electrical Engineering, Inha University) ;
  • Kim, Seuk-Yun (Robot Engineering Major, Inha University) ;
  • Lee, Young-Sam (Department of Electrical Engineering, Inha University)
  • Received : 2013.10.29
  • Accepted : 2013.12.26
  • Published : 2014.02.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, we present an overview of the structure of a lab-built powered knee prosthesis and the control of it. We build a powered prosthesis prototype on the basis of previous researches and aim at obtaining the essential technology related with its control. We adopt the slider-crank mechanism with a DC motor as an actuator to manipulate the knee joint. We also build an embedded control system for the prosthesis with a 32-bit DSP controller as a main computation unit. We divide the gait phase into five stages and use a FSM (Finite State Machine) to generate a torque reference needed for each stage. We also propose to use a position-based impedance controller for driving the powered knee prosthesis stably. We perform some walking experiments at fixed speeds on a tread mill in order to show the feature of the built powered prosthesis. The experimental results show that our prosthesis has the ability to provide a functional gait that is representative of normal gait biomechanics.

Keywords

References

  1. E. C. Marinez-Villalpando and H. Herr, "Agonoist-antagonist active knee prosthesis: A preliminary study in level-ground walking," Journal of Rehabilitation & Development, vol. 46, no. 3, pp. 361-374, 2009. https://doi.org/10.1682/JRRD.2008.09.0131
  2. F. Sup, H. A. Varol, J. Mitchell, T. J. Withrow, and M. Goldfarb, "Preliminary evaluations of a self-contained anthropomorphic transfemoral prosthesis," IEEE/ASME Transactions on Mechatronics, vol. 14, no. 6, pp. 667-676, Dec. 2009. https://doi.org/10.1109/TMECH.2009.2032688
  3. R. L. Waters, J. Perry, D. Antonelli, and H. Hislop, "Energy cost of walking of amputees : Influence of level of amputation," The Journal of Bone & Joint Surgery, vol. 58, no. 1, pp. 42-46, 1976. https://doi.org/10.2106/00004623-197658010-00007
  4. F. Sup, H. A. Varol, J. Mitchell, T. Withrow, and Michel Goldfarb, "Design and control of an active electrical knee and ankle prosthesis," Proc. 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, Scottsdale, USA, pp. 523-528, Oct. 2008.
  5. B. E. Lawson, A. Huff, and M. L Goldforb, "A preliminary investigation of powered prostheses for improved walking biomechanics in bilateral transfemoral amputees," Proc. 34th Annual International Conference of the IEEE EMBS, San Diego, USA, pp. 4164-4167, Aug. 2012.
  6. C. D. Hooyer, G. D. Fulk, and K. B. Fite, "The design and initial experimental validation of an active myoelectric transfemoral prosthesis," Journal of Medical Device, vol. 6, pp. 011005_1-011005_12, Mar. 2012.
  7. C. E. Clauser, J. T. McConville, and J. M. Young, "Weight, volume and center of mass of segments of the human body," AMRL-TR-69-70, Wright Patterson Airforce Base, Dayton, Ohio, 1968.
  8. M. W. Whittle, Gait Analysis an Introduction, 4th Ed, Elsevier, 2007.
  9. E. C. Martinez-Villalpando, J. Weber, G. Elliott, and H. Herr, "Design of an agonist-antagonist active knee prosthesis," Proc. 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, Scottsdale, USA, pp. 529-534, Oct. 2008.
  10. B. Heinrichs and N. Sephri, "Relationship of position-based impedance control to explicit force control: Theory and experiments," Proc. American Control Conference, San Diego, USA, pp. 2072-2076, Jun. 1999.
  11. Y. S. Lee, J. H. Yang, S. Y. Kim, W. S. Kim, and O. K. Kwon, "Development of a rapid control prototyping system based on Matlab and USB DAQ boards," Journal of Institute of Control, Robotics, and Systems (in Korean), vol. 18, no. 10, pp. 912-920, 2012. https://doi.org/10.5302/J.ICROS.2012.18.10.912
  12. D. H. Kwak, T. H. Kim, and Y. S. Lee, "Correction method of tracking error for astronomical telescope using recursive least square method," Journal of Institute of Control, Robotics, and Systems (in Korean), vol. 18, no. 3, pp. 224-229, 2012. https://doi.org/10.5302/J.ICROS.2012.18.3.224
  13. D. Winter, The Biomechanics and Motor Control of Human Gait : Normal, Elderly and Pathological, 2nd Ed, Waterloo. 1991.

Cited by

  1. The Structure of a Powered Knee Prosthesis based on a BLDC Motor and Impedance Control using Torque Estimation on Free Swing vol.21, pp.5, 2015, https://doi.org/10.5302/J.ICROS.2015.15.9018