Design and Control of a Pneumatically Actuated Transtibial Prosthesis

• Published in: Journal of bionics engineering Vol. 12; no. 2; pp. 217 - 226
• Main Authors: Zheng, Hao, Shen, Xiangrong
• Format: Journal Article
• Language: English
• Published: Singapore Elsevier Ltd 01.04.2015; Springer Singapore
• Subjects: Actuators; Artificial Intelligence; assistive robotic devices; Biochemical Engineering; Bioinformatics; Biomaterials; Biomedical Engineering and Bioengineering; Biomedical Engineering/Biotechnology; Controllers; Cylinders; Design engineering; Electric power generation; Engineering; lower limb prosthesis; powered prosthesis; Prosthetics; rehabilitation robotics; Surgical implants; Weight reduction; 假体; 功率重量比; 扭矩容量; 控制器; 气动; 电动马达; 致动器; 设计计算; powered prosthesis; assistive robotic devices; lower limb prosthesis; rehabilitation robotics
• ISSN: 1672-6529; 2543-2141
• DOI: 10.1016/S1672-6529(14)60114-1

This paper presents the design and control of a pneumatically actuated transtibial prosthesis, which utilizes a pneumatic cylinder-type actuator to power the prosthetic ankle joint to support the user＇s locomotion. The pneumatic actuator has multiple advantages over the traditional electric motor, such as light weight, low cost, and high power-to-weight ratio. The objective of this work is to develop a compact and lightweight transtibial prosthesis, leveraging the multiple advantages provided by this highly competitive actuator. In this paper, the design details of the prosthesis are described, including the determination of performance specifications, the layout of the actuation mechanism, and the calculation of the torque capacity. Through the authors＇ design calculation, the prosthesis is able to provide sufficient range of motion and torque capacity to support the lo- comotion of a 75 Kg individual. The controller design is also described, including the underlying biomechanical analysis and the formulation of the finite-state impedance controller. The testing results of human subject indicate that the prosthesis is able to generate a natural walking gait and sufficient power output for its amputee user.