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Design Innovation Paper

Design of a Transtibial Prosthesis With Active Transverse Plane Control

[+] Author and Article Information
Nathan M. Olson

Department of Mechanical Engineering,
University of Washington,
Seattle, WA 98195;
Department of Veterans Affairs,
Center of Excellence for Limb Loss Prevention
and Prosthetic Engineering,
1660 S. Columbian Way MS-151,
Seattle, WA 98108
e-mail: nmolson@uw.edu

Glenn K. Klute

Department of Mechanical Engineering,
University of Washington,
Seattle, WA 98195;
Department of Veterans Affairs,
Center of Excellence for Limb Loss Prevention
and Prosthetic Engineering,
1660 S. Columbian Way MS-151,
Seattle, WA 98108
e-mail: gklute@u.washington.edu

Manuscript received February 10, 2015; final manuscript received June 29, 2015; published online August 12, 2015. Assoc. Editor: Rita M. Patterson.This material is declared a work of the U.S. Government and is not subject to copyright protection in the United States. Approved for public release; distribution is unlimited.

J. Med. Devices 9(4), 045002 (Aug 12, 2015) (5 pages) Paper No: MED-15-1023; doi: 10.1115/1.4031072 History: Received February 10, 2015

This paper describes the design and bench testing of a transtibial prosthesis with active transverse-plane control. The prosthesis allows direct control of transverse plane torque over the full physiological range. The design uses an active compliant actuator driven by an impedance controller using direct torque feedback. Testing demonstrated that the prosthesis is able to accurately measure and control transverse-plane torque, and can be configured to express a wide range of impedance behaviors.

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Copyright © 2015 by ASME
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References

Figures

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Fig. 1

Von Mises stress distribution on motor housing/torque transducer in response to the design torque of 28 N m

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Fig. 2

Completed prosthesis mounted to prosthetic foot

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Fig. 3

Impedance controller block diagram

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Fig. 4

Transducer torque measurement error. The linearity of the transducer is better than 1% of full scale.

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Fig. 5

Torque output curves for the five stiffness profiles given in Table 1

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Fig. 6

Torque control error for the second stiffness profile given in Table 1

Tables

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