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Technical Brief

Variable Series Elasticity Control of a Pneumatically Actuated Transtibial Prosthesis1

[+] Author and Article Information
Hao Zheng, Molei Wu, Xiangrong Shen

Department of Mechanical Engineering,
The University of Alabama,
Tuscaloosa, AL 35487

DOI: 10.1115/1.4033768Manuscript received March 1, 2016; final manuscript received March 17, 2016; published online August 1, 2016. Editor: William Durfee.

J. Med. Devices 10(3), 030949 (Aug 01, 2016) (3 pages) Paper No: MED-16-1092; doi: 10.1115/1.4033768 History: Received March 01, 2016; Revised March 17, 2016

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Figures

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Fig. 1

The pneumatically actuated TT prosthesis APPL-A

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Fig. 2

Finite-state machine in the prosthesis controller

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Fig. 3

Comparison of the typical torque trajectory for a 65 kg person in walking (a) versus the trajectory generated by the VSEC controller (b)

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Fig. 4

A test subject fitted with the APPL-A prosthesis

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