A New Controlling Parameter in Design of Above Knee Prosthesis
In this paper after reviewing some previous studies, in
order to optimize the above knee prosthesis, beside the inertial
properties a new controlling parameter is informed. This controlling
parameter makes the prosthesis able to act as a multi behavior system
when the amputee is opposing to different environments. This active
prosthesis with the new controlling parameter can simplify the
control of prosthesis and reduce the rate of energy consumption in
comparison to recently presented similar prosthesis “Agonistantagonist
active knee prosthesis".
In this paper three models are generated, a passive, an active, and
an optimized active prosthesis. Second order Taylor series is the
numerical method in solution of the models equations and the
optimization procedure is genetic algorithm.
Modeling the prosthesis which comprises this new controlling
parameter (SEP) during the swing phase represents acceptable results
in comparison to natural behavior of shank. Reported results in this
paper represent 3.3 degrees as the maximum deviation of models
shank angle from the natural pattern. The natural gait pattern belongs
to walking at the speed of 81 m/min.
[1] H. Herr, G. P. Whiteley, and D. Childress, "Chapter5: Cyborg
Technology, Biomimetic Orthotic and Prosthetic Technology,"
ISBN 0-8194-4872-9, SPIE, 2003.
[2] G. Karimi, and O. Jahanian, "Designing a prosthetic rotational
kneed leg with passive dynamic consideration," BS Thesis, IAUM,
2006.
[3] J. Nishii, and M. Nakamura, "A determinant of the leg swing
trajectory during walking," Proceedings of the Symposium on
Biological and Physiological Engineering, vol. 19, 2004, pp 81-82.
[4] S. Mochon, and T. A. McMahon,"Ballistic walking," J.Biomech,
vol. 13, Pergamon Press Ltd., pp. 49-57, 1980.
[5] R. W. Selles, J. B. J. Bussmann, R. C. Wagenaar, and H. J.
Stam,"Comparing predictive validity of four ballistic swing phase
models of human walking," J. Biomech, vol. 34, pp. 1171-1177,
2001.
[6] R. W. Selles, J. B. J. Bussmann, R. C. Wagenaar, and H. J. Stam,
"Effects of prosthetic mass and mass distribution on kinematics
and energetics of prosthetic gait: A systematic review," Arch.
Phys. Med. Rehabil. , vol. 80, pp. 1593-9, 1999.
[7] B. Lotfi, O. Jahanian, and G. Karimi, "Statistical modeling of a 2D
straight leg passive dynamic walker Machine," Proceedings of the
International Conference on Modeling and Simulation, Malaysia,
2006, Paper No. 145.
[8] M. S. Garcia, "Stability, scaling, and chaos in passive dynamic gait
models," Ph.D.Thesis, Cornell University, Ithaca, NY USA.
[9] A. G. Baines, "Knee design for a bipedal walking robot based on a
passive-dynamic Walker," BS Thesis, Department of Mechanical
Engineering, Massachusetts Institute of Technology, 2005.
[10] H. Collins, "Dynamic Walking Principles Applied to Human Gait,"
Ph.D.Thesis, University of Michigan, 2008.
[11] S. N. Whittlesey, R. E. A. van Emmerik, and J. Hamill, "The
swing phase of human walking is not a passive movement," Motor
Control, vol.4, Human Kinetics Publishers Inc., pp. 273-292, 2000.
[12] S. Zahedi, "Lower Limb Prosthetic Research In The 21.st.
Century," ATLAS OF Prosthetics, [ www.endolite.com ]
[13] M. Y. Zarrugh, and C. W. Radcliffe, "Simulation of Swing Phase
Dynamics in Above Knee Prostheses," J. Biomech, vol. 9, pp. 283-
292, 1976.
[14] C. S. Tsai, and J. M. Mansour," swing phase simulation and design
of above knee prostheses," Biomech. Eng., vol. 108, pp. 65-72,
1986.
[15] S. Blumentritt, H. W. Scherer, J. W. Michael, and T. Schmalz,
"Transfemural Amputees walking on a rotary hydraulic prosthetic
knee mechanism," J. Prosthet. Orthot., vol. 10, no. 3, pp. 61-70,
1998.
[16] J. H. Kim, and J. H. Oh, "Development of an above knee
prosthesis using MR damper and leg simulator," Proceedings of
the 2001 IEEE International Conference on Robotics 8
Automation, Seoul, Korea. May 21-26, 2001, pp. 3686-3691.
[17] H. Herr, and A. Wilkenfeld, "User-adaptive control of a
magnetorheological prosthetic knee," Ind. Robot, vol. 30, no. 1, pp.
42-55, 2003.
[18] A. O. Kapti, and M. S. Yucenur, "Design and control of an active
artificial knee joint," Mech. Mach. Theory, vol. 41, pp. 1477-1485,
2006.
[19] E. C. M. Villalpando, and H. Herr, "Biomimetic active prosthetic
knee with antagonistic actuation," Dynamic Walking 2009, held at
Simon Fraser University, Vancouver,
[www.dynamicwalking.org/dw2009].
[20] D. Joshi, and S. Anand, "Smart and Adaptive Lower limb
Prosthesis," unpublished.
[21] E. C. M. Villalpando, and H. Herr, "Agonist-antagonist active knee
prosthesis: A preliminary study in level-ground walking," J.
Rehabil. Res. Dev., vol. 46, no. 3, pp. 361-374, 2009.
[22] D. A. Winter,"Biomechanics and motor control of human
movement," Fourth edition, John Wiley & Sons, Inc. ISBN: 978-0-
470-39818-0, 2009.
[23] M. R. Yeadon, and M. Morlock, "The appropriate use of
regression equations for the estimation of segmental inertia
parameters," J. Biomech., vol. 22, pp. 683-689, 1989.
[24] F. C. Anderson, and M. G. Pandy, "Dynamic optimization of
human walking," Biomech. Eng., vol. 123, pp. 381-390, 2001.
[25] J. R. Gage, P. A. Deluca, and T. S. Renshaw, "Gait Analysis:
Principles and Applications," J. Bone Joint Surg., vol. 77, pp.
1607-1623, 1995.
[26] J. M. Baydal, R. Barbera, J. M. B. Lois, A. Page, and J. Prat,
"Application of genetic algorithms as optimization methodology in
the design of orthosis," Institute of Biomechanics of Valencia (IBV),
2001.
[27] A. Chipperfield, P. Fleming, H. Pohlheim, and C. Fonseca,
"Genetic algorithm toolbox user-s guide," Department of automatic
control and systems engineering, University of Sheffield.
[1] H. Herr, G. P. Whiteley, and D. Childress, "Chapter5: Cyborg
Technology, Biomimetic Orthotic and Prosthetic Technology,"
ISBN 0-8194-4872-9, SPIE, 2003.
[2] G. Karimi, and O. Jahanian, "Designing a prosthetic rotational
kneed leg with passive dynamic consideration," BS Thesis, IAUM,
2006.
[3] J. Nishii, and M. Nakamura, "A determinant of the leg swing
trajectory during walking," Proceedings of the Symposium on
Biological and Physiological Engineering, vol. 19, 2004, pp 81-82.
[4] S. Mochon, and T. A. McMahon,"Ballistic walking," J.Biomech,
vol. 13, Pergamon Press Ltd., pp. 49-57, 1980.
[5] R. W. Selles, J. B. J. Bussmann, R. C. Wagenaar, and H. J.
Stam,"Comparing predictive validity of four ballistic swing phase
models of human walking," J. Biomech, vol. 34, pp. 1171-1177,
2001.
[6] R. W. Selles, J. B. J. Bussmann, R. C. Wagenaar, and H. J. Stam,
"Effects of prosthetic mass and mass distribution on kinematics
and energetics of prosthetic gait: A systematic review," Arch.
Phys. Med. Rehabil. , vol. 80, pp. 1593-9, 1999.
[7] B. Lotfi, O. Jahanian, and G. Karimi, "Statistical modeling of a 2D
straight leg passive dynamic walker Machine," Proceedings of the
International Conference on Modeling and Simulation, Malaysia,
2006, Paper No. 145.
[8] M. S. Garcia, "Stability, scaling, and chaos in passive dynamic gait
models," Ph.D.Thesis, Cornell University, Ithaca, NY USA.
[9] A. G. Baines, "Knee design for a bipedal walking robot based on a
passive-dynamic Walker," BS Thesis, Department of Mechanical
Engineering, Massachusetts Institute of Technology, 2005.
[10] H. Collins, "Dynamic Walking Principles Applied to Human Gait,"
Ph.D.Thesis, University of Michigan, 2008.
[11] S. N. Whittlesey, R. E. A. van Emmerik, and J. Hamill, "The
swing phase of human walking is not a passive movement," Motor
Control, vol.4, Human Kinetics Publishers Inc., pp. 273-292, 2000.
[12] S. Zahedi, "Lower Limb Prosthetic Research In The 21.st.
Century," ATLAS OF Prosthetics, [ www.endolite.com ]
[13] M. Y. Zarrugh, and C. W. Radcliffe, "Simulation of Swing Phase
Dynamics in Above Knee Prostheses," J. Biomech, vol. 9, pp. 283-
292, 1976.
[14] C. S. Tsai, and J. M. Mansour," swing phase simulation and design
of above knee prostheses," Biomech. Eng., vol. 108, pp. 65-72,
1986.
[15] S. Blumentritt, H. W. Scherer, J. W. Michael, and T. Schmalz,
"Transfemural Amputees walking on a rotary hydraulic prosthetic
knee mechanism," J. Prosthet. Orthot., vol. 10, no. 3, pp. 61-70,
1998.
[16] J. H. Kim, and J. H. Oh, "Development of an above knee
prosthesis using MR damper and leg simulator," Proceedings of
the 2001 IEEE International Conference on Robotics 8
Automation, Seoul, Korea. May 21-26, 2001, pp. 3686-3691.
[17] H. Herr, and A. Wilkenfeld, "User-adaptive control of a
magnetorheological prosthetic knee," Ind. Robot, vol. 30, no. 1, pp.
42-55, 2003.
[18] A. O. Kapti, and M. S. Yucenur, "Design and control of an active
artificial knee joint," Mech. Mach. Theory, vol. 41, pp. 1477-1485,
2006.
[19] E. C. M. Villalpando, and H. Herr, "Biomimetic active prosthetic
knee with antagonistic actuation," Dynamic Walking 2009, held at
Simon Fraser University, Vancouver,
[www.dynamicwalking.org/dw2009].
[20] D. Joshi, and S. Anand, "Smart and Adaptive Lower limb
Prosthesis," unpublished.
[21] E. C. M. Villalpando, and H. Herr, "Agonist-antagonist active knee
prosthesis: A preliminary study in level-ground walking," J.
Rehabil. Res. Dev., vol. 46, no. 3, pp. 361-374, 2009.
[22] D. A. Winter,"Biomechanics and motor control of human
movement," Fourth edition, John Wiley & Sons, Inc. ISBN: 978-0-
470-39818-0, 2009.
[23] M. R. Yeadon, and M. Morlock, "The appropriate use of
regression equations for the estimation of segmental inertia
parameters," J. Biomech., vol. 22, pp. 683-689, 1989.
[24] F. C. Anderson, and M. G. Pandy, "Dynamic optimization of
human walking," Biomech. Eng., vol. 123, pp. 381-390, 2001.
[25] J. R. Gage, P. A. Deluca, and T. S. Renshaw, "Gait Analysis:
Principles and Applications," J. Bone Joint Surg., vol. 77, pp.
1607-1623, 1995.
[26] J. M. Baydal, R. Barbera, J. M. B. Lois, A. Page, and J. Prat,
"Application of genetic algorithms as optimization methodology in
the design of orthosis," Institute of Biomechanics of Valencia (IBV),
2001.
[27] A. Chipperfield, P. Fleming, H. Pohlheim, and C. Fonseca,
"Genetic algorithm toolbox user-s guide," Department of automatic
control and systems engineering, University of Sheffield.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:60921", author = "M. Tahani and G. Karimi", title = "A New Controlling Parameter in Design of Above Knee Prosthesis", abstract = "In this paper after reviewing some previous studies, in
order to optimize the above knee prosthesis, beside the inertial
properties a new controlling parameter is informed. This controlling
parameter makes the prosthesis able to act as a multi behavior system
when the amputee is opposing to different environments. This active
prosthesis with the new controlling parameter can simplify the
control of prosthesis and reduce the rate of energy consumption in
comparison to recently presented similar prosthesis “Agonistantagonist
active knee prosthesis".
In this paper three models are generated, a passive, an active, and
an optimized active prosthesis. Second order Taylor series is the
numerical method in solution of the models equations and the
optimization procedure is genetic algorithm.
Modeling the prosthesis which comprises this new controlling
parameter (SEP) during the swing phase represents acceptable results
in comparison to natural behavior of shank. Reported results in this
paper represent 3.3 degrees as the maximum deviation of models
shank angle from the natural pattern. The natural gait pattern belongs
to walking at the speed of 81 m/min.", keywords = "Above knee prosthesis, active controlling parameter,ballistic motion, swing phase.", volume = "4", number = "10", pages = "1082-8", }
