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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Winter, D. A. , 1991, The Biomechanics and Motor Control of Human Gait: Normal, Elderly and Pathological, 2nd ed., University of Waterloo Press, Waterloo, ON, Canada.
Au, S. , Weber, J. , and Herr, H. , 2009, “ Powered Ankle–Foot Prosthesis Improves Walking Metabolic Economy,” IEEE Trans. Rob., 25(1), pp. 51–66. [CrossRef]
Versluys, R. , Van Ham, R. , Vanderneipen, I. , and Lefeber, D. , 2009, “ Successful Walking With a Biologically-Inspired Below-Knee Prosthesis,” IEEE 11th International Conference on Rehabilitation Robotics (ICORR), Kyoto, Japan, June 23–26, pp. 652–657.
Zheng, H. , and Shen, X. , 2015, “ Design and Control of a Pneumatically Actuated Transtibial Prosthesis,” J. Bionic Eng., 12(2), pp. 217–226. [CrossRef] [PubMed]
Zheng, H. , and Shen, X. , 2015, “ Modeling and Control of the Series Elasticity in Pneumatic Actuators,” ASME Paper No. IMECE2015-51054.


Grahic Jump Location
Fig. 4

A test subject fitted with the APPL-A prosthesis

Grahic Jump Location
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)

Grahic Jump Location
Fig. 2

Finite-state machine in the prosthesis controller

Grahic Jump Location
Fig. 1

The pneumatically actuated TT prosthesis APPL-A



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