Mechatronic Design of A Low-Noise Active Knee Prosthesis with High Backdrivability

被引：4
作者：
Fu, Guoxiang [1 ,2 ]
Zhu, Jinying [3 ]
Wang, Zilu [1 ,2 ]
Mai, Jingeng [1 ,2 ]
Wang, Qining [1 ,2 ]
机构：
[1] Peking Univ, Coll Engn, Dept Adv Mfg & Robot, Beijing 100871, Peoples R China
[2] Beijing Engn Res Ctr Intelligent Rehabil Engn, Beijing, Peoples R China
[3] SpeedSmart Co Ltd, R&D Ctr, Beijing, Peoples R China
来源：
2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021) | 2021年
基金：
中国国家自然科学基金; 北京市自然科学基金; 国家重点研发计划;
关键词：
SERIES-ELASTIC ACTUATOR;
D O I：
10.1109/ICRA48506.2021.9562052
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we present a low-damping active knee prosthesis (LDKP) with low noise and high backdrivability. The proposed prosthesis is driven by a motor and then decelerated by a four-stage synchronous belt. High backdrivability given by this structure accelerates the prosthetic response. A control system containing several sensors are embedded in the proposed prosthesis to recognize different modes and provide corresponding strategies. Preliminary experiments were carried out on a transfemoral amputee subject, demonstrating the features of low noise, high backdrivability and ability to reproduce natural walking gaits.
引用
收藏
页码：7027 / 7032
页数：6
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