This paper describes the mechanical design and control approach for an above-knee (AK) prosthesis actuated by pneumatic artificial muscle. Pneumatic artificial muscle (PAM) affords great potential in prosthetics, since this type of actuator features a high power density, and similar characteristics to human muscles. However, there is no application of PAM in AK prosthetics in existing literature to the best knowledge of the authors. In this paper, a design of the prosthesis is presented, which provides sufficient actuation torque for the knee joint in energy consuming locomotive functions such as fast walking and stair climbing. The corresponding control approach is also presented, which combines an impedance-based locomotive controller with a lower-level sliding-mode torque control approach. Experiments on the proposed AK prosthesis have also been conducted to demonstrate the ability to mimic normal gait characteristics.
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ASME 2010 Dynamic Systems and Control Conference
September 12–15, 2010
Cambridge, Massachusetts, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4417-5
PROCEEDINGS PAPER
A Pneumatic Artificial Muscle Actuated Above-Knee Prosthesis
Garrett Waycaster,
Garrett Waycaster
The University of Alabama, Tuscaloosa, AL
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Sai-Kit Wu,
Sai-Kit Wu
The University of Alabama, Tuscaloosa, AL
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Xiangrong Shen
Xiangrong Shen
The University of Alabama, Tuscaloosa, AL
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Garrett Waycaster
The University of Alabama, Tuscaloosa, AL
Sai-Kit Wu
The University of Alabama, Tuscaloosa, AL
Xiangrong Shen
The University of Alabama, Tuscaloosa, AL
Paper No:
DSCC2010-4097, pp. 793-800; 8 pages
Published Online:
January 25, 2011
Citation
Waycaster, G, Wu, S, & Shen, X. "A Pneumatic Artificial Muscle Actuated Above-Knee Prosthesis." Proceedings of the ASME 2010 Dynamic Systems and Control Conference. ASME 2010 Dynamic Systems and Control Conference, Volume 1. Cambridge, Massachusetts, USA. September 12–15, 2010. pp. 793-800. ASME. https://doi.org/10.1115/DSCC2010-4097
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