RESUMO
This article describes a novel approach to the control of a powered knee prosthesis where the control system provides passive behavior for most activities and then provides powered assistance only for those activities that require them. The control approach presented here is based on the categorization of knee joint function during activities into four behaviors: resistive stance behavior, active stance behavior, ballistic swing, and non-ballistic swing. The approach is further premised on the assumption that healthy non-perturbed swing-phase is characterized by a ballistic swing motion, and therefore, a replacement of that function should be similarly ballistic. The control system utilizes a six-state finite-state machine, where each state provides different constitutive behaviors (concomitant with the four aforementioned knee behaviors) which are appropriate for a range of activities. Transitions between states and torque control within states is controlled by user motion, such that the control system provides, to the extent possible, knee torque behavior as a reaction to user motion, including for powered behaviors. The control system is demonstrated on a novel device that provides a sufficiently low impedance to enable a strictly passive ballistic swing-phase, while also providing sufficiently high torque to offer powered stance-phase knee-extension during activities such as step-over stair ascent. Experiments employing the knee and control system on an individual with transfemoral amputation are presented that compare the functionality of the power-supplemented nominally passive system with that of a conventional passive microprocessor-controlled knee prosthesis.
RESUMO
This paper describes a knee prosthesis that provides primarily-passive behavior akin to a state-of-the-art modulated passive microprocessor-controlled knee prosthesis (MPK), but also offers powered stance and swing assistance, which are layered on top of the passive functionality. The combination of both passive and powered behaviors is enabled by a unique electronically-selectable two-speed transmission, which enables the combination of very low output impedance and high resistive torques necessary for passive functionality, while also enabling the generative torque-speed characteristics suitable for stance and swing phase assistance. A control system is described that consolidates behaviors appropriate for a wide range of activities of daily living (ADLs) into six states, with each state providing adaptive torque behaviors appropriate for different phases of gait, whether powered or passive. Experimental results on an individual with transfemoral amputation suggest that the prosthesis and controller provide similar or improved passive behaviors relative to a commercially-available MPK, in addition to providing powered functionality commensurate with a powered prosthesis.
