Project

Biomimetic active prosthesis for above-knee amputees

Using biologically inspired design principles, a biomimetic robotic knee prosthesis is proposed that uses a clutchable series-elastic actuator. In this design, a clutch is placed in parallel to a combined motor and spring. This architecture permits the mechanism to provide biomimetic walking dynamics while requiring minimal electromechanical energy from the prosthesis. The overarching goal for this project is to design a new generation of robotic knee prostheses capable of generating significant energy during level-ground walking, that can be stored in a battery and used to power a robotic ankle prosthesis and other net-positive locomotion modes (e.g., stair ascent).

Using biologically inspired design principles, a biomimetic robotic knee prosthesis is proposed that uses a clutchable series-elastic actuator. In this design, a clutch is placed in parallel to a combined motor and spring. This architecture permits the mechanism to provide biomimetic walking dynamics while requiring minimal electromechanical energy from the prosthesis. The overarching goal for this project is to design a new generation of robotic knee prostheses capable of generating significant energy during level-ground walking, that can be stored in a battery and used to power a robotic ankle prosthesis and other net-positive locomotion modes (e.g., stair ascent).