University of Twente Student Theses


Design and evaluation of a walking and running controller for an actuated knee prosthesis

Buitenhuis, L. (2020) Design and evaluation of a walking and running controller for an actuated knee prosthesis.

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Abstract:Introduction: Active knee prostheses (A-MPK) for transfemoral amputees (TFA) seem to have several benefits compared to passive prostheses, but little evidence exist yet. The objective of this research was to design and evaluate a walking and preliminary running controller for a new prototype A-MPK, the IntelLeg Knee (ILK). Methods: An impedance based finite state machine was designed to allow walking at different speeds, capable of walking initiation/termination and run. Evaluation was performed with one TFA (walking) and one healthy subject (running). Results: The TFA could walk with the ILK at 0.2 - 7.0 km/h (treadmill). The ILK performance was at least equal to the daily use prosthesis and some parameters improved: the step length symmetry index decreased (21.7-32.6% to 11.3-18.2%). At maximum speed, the subject felt safer with the ILK and muscle activity of the intact leg and lower back decreased. Furthermore, less compensatory movements of m. soleus were found. Running was possible with help of support bars. Conclusion: The walking controller allowed a TFA to naturally walk with the ILK. Improvements of the A-MPK were mainly found at high speeds, but testing with more TFAs is necessary. Running potential was shown, but further development was limited by physical inconveniences.
Item Type:Essay (Master)
Reboocon bionics, Delft, the Netherlands
Faculty:ET: Engineering Technology
Subject:44 medicine, 50 technical science in general
Programme:Biomedical Engineering MSc (66226)
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