Actively variable transmission for robotic knee prostheses

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

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 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 languageEnglish (US)
Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6665-6671
Number of pages7
ISBN (Electronic)9781509046331
DOIs
StatePublished - Jul 21 2017
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
Duration: May 29 2017Jun 3 2017

Publication series

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

Other

Other2017 IEEE International Conference on Robotics and Automation, ICRA 2017
CountrySingapore
CitySingapore
Period5/29/176/3/17

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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    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). [7989787] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2017.7989787