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Mimicking Human-Like Leg Function in Prosthetic Limbs

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Neuro-Robotics

Part of the book series: Trends in Augmentation of Human Performance ((TAHP,volume 2))

Abstract

Human upright locomotion is a complex behavior depending on manifold requirements. Bones, muscles, cartilage and tendons provide mechanical infrastructure. Central nervous commands, reflex mechanisms from the spinal cord level or also preflexes defined by actuator properties provide input to create motion patterns like walking or running. Due to dysvascularity, infections or traumatic events parts of the biological framework can get lost. Until the end of the twentieth century mostly passive structures were used to replace amputees lower limbs. Full functionality like in the biological system can not be provided because of missing sensory information and power source. Innovations in actuator, battery and micro electronics technology make it possible to improve prosthetic design. A first innovation was introduced with semi-active devices using microprocessor controlled dampers to modulate prosthetic joint behavior similar to isometric or eccentric muscle function. A further step is to power the joints to emulate concentric muscle function. Combined with ingenious control mechanisms this could potentially provide every possible movement task. Twenty-six powered prosthetic systems and further passive prototypes are presented in this work. Mechanical and control solutions are introduced. Amputee gait in various daily life situations using passive, semi-active and powered prostheses is compared. Areas for improvements are discussed.

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Abbreviations

CE:

contractile element

CIC:

computational intrinsic control

CoM:

center of mass

EMG:

electromyography

ER:

energy requirements

ESAR:

energy storage and return

FPWS:

fastest possible walking speed

GRF:

ground reaction force

IEC:

interactive extrinsic control

IL:

intact limb

PE:

parallel element

PEA:

parallel elastic actuator

PP:

peak power

PWS:

preferred walking speed

RL:

residual prosthetic limb

RoM:

range of motion

SACH:

solid ankle cushioned heel

SE:

series element

SEA:

series elastic actuator

TF:

transfemoral

TT:

transtibial

UPS:

unidirectional parallel spring

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  1. Lauflabor Locomotion Lab, Technische Universität Darmstadt, Magdalenenstrasse 27, 64289, Darmstadt, Germany

    Martin Grimmer & André Seyfarth

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  1. School for Engineering of Matter, Transport and Energy, Arizona State University, Tempe, Arizona, USA

    Panagiotis Artemiadis

Appendix

Appendix

Table 5.3 Overview on active prosthetic ankle developments
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Table 5.4 Overview on active prosthetic knee developments
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Grimmer, M., Seyfarth, A. (2014). Mimicking Human-Like Leg Function in Prosthetic Limbs. In: Artemiadis, P. (eds) Neuro-Robotics. Trends in Augmentation of Human Performance, vol 2. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-8932-5_5

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