Journal ArticleDOI
Modelling and reference tracking of the robotic above-knee prosthetic leg with actuated knee and ankle joints during stair climbing
Zlata Jelačić,Remzo Dedić +1 more
TLDR
This paper presents a prototype of an above-knee prosthetic leg with active knee and ankle joints while using the proposed robust control law.Abstract:
The locomotion of people with amputation is slower, less stable and requires more metabolic energy than the locomotion of physically fit individuals. Individuals with amputation of the lower extremities fall more often than able individuals and often have difficulty moving on uneven terrain and stairs. These challenges can mostly be attributed to the use of passive mechanical prosthetic legs that do not react actively to perturbations. Latest submitted solutions for active prosthetic devices of the lower extremities can significantly improve mobility and quality of life for millions of people with lower limb amputation, but challenges in control mechanisms of such devices are currently limiting their clinical viability. In this paper we present a prototype of an above-knee prosthetic leg with active knee and ankle joints while using the proposed robust control law.read more
Citations
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Journal ArticleDOI
A Nonsingular Terminal Sliding Algorithm for Swing and Stance Control of a Prosthetic Leg Robot
TL;DR: In this paper , the authors proposed two finite-time controllers for a prosthetic leg robot with three degree-of-freedom to emulate human gaits in the presence of ground friction force and external disturbances.
Book ChapterDOI
Comparison Between the Kinematic Behaviour of Different Prototypes of Prosthetic Leg with Actuated Knee and Ankle Joints
TL;DR: In this paper, the authors used a hydraulic drive with an external power source in the knee and ankle joint for climbing the stairs in an above-knee prosthetic leg, which can be up to six times the weight of a person.
Journal ArticleDOI
Editorial to the special issue on CMBEBIH 2019: biomedical engineering - share the vision
TL;DR: This special editorial presents the topic of genetic and pharmaceutical engineering as well, which is an application of traditional engineering principles and design procedures to analyze and solve problems in biology and medicine.
References
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Journal ArticleDOI
A Study of the Passive Gait of a Compass-Like Biped Robot: Symmetry and Chaos
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Journal ArticleDOI
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Journal ArticleDOI
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TL;DR: Rolling feet with curvature 0.3 L appear energetically advantageous for plantigrade walking, partially due to decreased work for step-to-step transitions, but other factors appear to increase metabolic cost for walking on very small and very large arc feet.
Journal ArticleDOI
Alignment of polyamic acid molecules containing azobenzene in the backbone structure: Effects of polarized ultraviolet light irradiation and subsequent thermal imidization
TL;DR: In this article, the orientation of polyamic acid (PAA) and polyimide backbone structures was determined by measuring the polarized infrared absorption spectra of the films, and permanent orientational change of the PAA backbone structure occurred through repeated photoisomerization reactions of the azobenzene unit.
Book ChapterDOI
Power and Control System of Knee and Ankle Powered Above-Knee Prosthesis
TL;DR: Hydraulic power system and control system for knee and ankle powered prosthesis is presented which is developing in order to achieve required kinematics and dynamics of the prosthesis which would enable it to perform high power demanding activities in more natural manner, especially stair ascent.