Actively variable transmission for robotic knee prostheses

Tommaso Lenzi; Marco Cempini; Levi J. Hargrove; Todd A. Kuiken

doi:10.1109/ICRA.2017.7989787

Actively variable transmission for robotic knee prostheses

Tommaso Lenzi^*, Marco Cempini, Levi J. Hargrove, Todd A. Kuiken

^*Corresponding author for this work

Physical Medicine and Rehabilitation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

20 Scopus citations

Abstract

We present a novel powered knee prosthesis with an active variable transmission (AVT) that adapts motor torque and speed output based on the requirements of different ambulation activities. The AVT works in combination with a spring/damper system to allow for both active and passive operation modes. Preliminary tests performed by an able-bodied subject wearing a bypass orthosis show that the proposed knee can support walking on level ground in passive mode, as well as ambulating on stairs with a reciprocal gait pattern in active mode.

Original language	English (US)
Title of host publication	ICRA 2017 - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	6665-6671
Number of pages	7
ISBN (Electronic)	9781509046331
DOIs	https://doi.org/10.1109/ICRA.2017.7989787
State	Published - Jul 21 2017
Event	2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore Duration: May 29 2017 → Jun 3 2017

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Country/Territory	Singapore
City	Singapore
Period	5/29/17 → 6/3/17

Funding

This research was supported by the National Institute on Disability, Independent Living, and Rehabilitation Research (90RE5014-02-00). *T. Lenzi is corresponding author: email [email protected].

ASJC Scopus subject areas

Software
Artificial Intelligence
Electrical and Electronic Engineering
Control and Systems Engineering

Access to Document

10.1109/ICRA.2017.7989787

Cite this

Lenzi, T., Cempini, M., Hargrove, L. J., & Kuiken, T. A. (2017). Actively variable transmission for robotic knee prostheses. In ICRA 2017 - IEEE International Conference on Robotics and Automation (pp. 6665-6671). Article 7989787 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2017.7989787

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title = "Actively variable transmission for robotic knee prostheses",

abstract = "We present a novel powered knee prosthesis with an active variable transmission (AVT) that adapts motor torque and speed output based on the requirements of different ambulation activities. The AVT works in combination with a spring/damper system to allow for both active and passive operation modes. Preliminary tests performed by an able-bodied subject wearing a bypass orthosis show that the proposed knee can support walking on level ground in passive mode, as well as ambulating on stairs with a reciprocal gait pattern in active mode.",

author = "Tommaso Lenzi and Marco Cempini and Hargrove, {Levi J.} and Kuiken, {Todd A.}",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE International Conference on Robotics and Automation, ICRA 2017 ; Conference date: 29-05-2017 Through 03-06-2017",

year = "2017",

month = jul,

day = "21",

doi = "10.1109/ICRA.2017.7989787",

language = "English (US)",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "ICRA 2017 - IEEE International Conference on Robotics and Automation",

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Lenzi, T, Cempini, M, Hargrove, LJ & Kuiken, TA 2017, Actively variable transmission for robotic knee prostheses. in ICRA 2017 - IEEE International Conference on Robotics and Automation., 7989787, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 6665-6671, 2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Singapore, Singapore, 5/29/17. https://doi.org/10.1109/ICRA.2017.7989787

Actively variable transmission for robotic knee prostheses. / Lenzi, Tommaso; Cempini, Marco; Hargrove, Levi J. et al.
ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2017. p. 6665-6671 7989787 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AU - Cempini, Marco

AU - Hargrove, Levi J.

AU - Kuiken, Todd A.

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AB - We present a novel powered knee prosthesis with an active variable transmission (AVT) that adapts motor torque and speed output based on the requirements of different ambulation activities. The AVT works in combination with a spring/damper system to allow for both active and passive operation modes. Preliminary tests performed by an able-bodied subject wearing a bypass orthosis show that the proposed knee can support walking on level ground in passive mode, as well as ambulating on stairs with a reciprocal gait pattern in active mode.

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ER -

Actively variable transmission for robotic knee prostheses

Abstract

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ASJC Scopus subject areas

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