The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지
DOI QR코드

DOI QR Code

Development of an Electronically Controlled Knee-Type Prosthetic Leg with a 4-Bar Linkage Structure for Lower Limb Amputee

대퇴 절단 장애인을 위한 4절 링크 구조의 전자 제어식 무릎형 의족

  • Ji-Woon Lee (Department of Medical Robotics, Korea Institute of Machinery & Materials / Department of Mechanical Engineering, Kyungpook University) ;
  • Hyun-Soo Woo (Department of Medical Robotics, Korea Institute of Machinery & Materials) ;
  • Dong-Young Ahn (Prosthetics and Orthotics Center, Veterans Health Service Medical Center) ;
  • Min Jo (Prosthetics and Orthotics Center, Veterans Health Service Medical Center) ;
  • Hak Yi (School of Mechanical Engineering, Kyungpook National University) ;
  • Ki-Young Kim (Department of Medical Robotics, Korea Institute of Machinery & Materials)
  • Received : 2023.07.27
  • Accepted : 2024.02.22
  • Published : 2024.05.31
Download PDF
⟨ Previous Next ⟩

Abstract

Lower limb amputees are increasing due to various reasons. It is difficult for lower limb amputees to walk without an assistive device such as a prosthetic leg. In this paper, an electronically controlled knee-type prosthetic leg with a 4-bar linkage structure for lower limb amputees was developed. The knee-type prosthetic leg has a 4-bar linkage structure and assists walking by using an integrated drive module. The torque is 90 Nm, the rotation speed is up to 120 deg, and it weight 1.9 kg, so it is lighter than a commercial prosthetic leg, so it can be used for a long time because there is less fatigue when walking. An integrated control board was developed by applying various sensors and microprocessor. The motor drive and encoder are built into the integrated drive module. The integrated control board and integrated drive module communicate using CAN. When a lower limb amputee wears a knee-type prosthetic leg and walks, it shows a shape similar to the swing phase graph of a normal people, and it is possible to walk naturally while walking.

Keywords

Acknowledgement

This work was supported by the Korea Medical Device Development Fund grant funded by the Korea government (the Ministry of Science and ICT, the Ministry of Trade, Industry and Energy, the Ministry of Health & Welfare, the Ministry of Food and Drug Safety) (Project Number: 1711195609, RS-2020-KD000158).

References

  1. Z. Lui, M. I. Awad, A. Abouhossein, A. Dehghani-Sanij, and N. Messenger, "Virtual prototyping of a semi-active transfemoral prosthetic leg," J Engineering in Medicine, vol. 229, no. 5, pp. 350-361, May, 2015, DOI: 10.1177/0954411915581653.
  2. D. Yoon, G. Lee, and Y. Choi, "Underactuated Finger Mechanism for Body-Powered Partial Prosthesis," The Journal of Korea Robotics Society, vol. 11, no. 4, pp. 193-204, Nov., 2016, DOI: 10.7746/jkros.2016.11.4.193.
  3. G.-Y. Gyeong, J.-G. Kim, and Y.-S. Lee, "The Structure of a Powered Knee Prosthesis based on a BLDC Motor and Impedance Control using Torque Estimation on Free Swing," Journal of Institute of Control, Robotics and Systems, vol. 21, no. 5, pp. 407-412, May, 2015, DOI: 10.5302/J.ICROS.2015.15.9018.
  4. W. Alcocer, L. Vela, A. Blanco, J. Gonzalez, and M. Oliver, "Major Trends in the Developmentof Ankle Rehabilitation Devices," Int. J. DYNA, vol. 79, no. 176, pp. 45-55, Dec., 2012, [Online], http://www.scielo.org.co/scielo.php?pid=S0012-73532012000600006&script=sci_arttext&tlng=en.
  5. E. C. Marinez-Villalpando and H. Herr, "Agonist-antagonist active knee prosthesis: A preliminary study in level-ground walking," Journal of Rehabilitation & Development, vol. 46, no. 3, pp. 361-373, 2009, [Online], https://pubmed.ncbi.nlm.nih.gov/19675988/.
  6. F. Sup, H. A. Varol, J. Mitchell, T.J. Withrow, and M. Goldfarb, "Preliminary Evaluations of a Self-Contained Anthropomorphic Transfemoral Prosthesis," IEEE/ASME Transactions on mechatronics, vol. 14, no. 6, pp. 667-676, 2009, DOI: 10.1109/TMECH.2009.2032688.
  7. J. Park, "Leg Mechanism Design and Control of Bio-inspired Robot for High Speed Legged Locomotion," The Journal of Korea Robotics Society, vol. 14, no. 4, pp. 264-269, Nov., 2019, DOI: 10.7746/jkros.2019.14.4.264.
  8. K. H. Kim, Y. H. Kim, S. K. Kim, G. T. Yang, and M. S. Mun, "Development of Transfemoral Prosthesis and Its Gait Analysis," the Korea Society Mechanical Engineers Fall Annual Meeting, vol. 2, no. 1, pp. 303-308, 1996, [Online], https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE00331776.
  9. A. H. Shultz, B. E. Lawson, and M. Goldfarb, "Running with a Powered Knee and Ankle Prosthesis," IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 23, no. 3, pp. 403-412, May, 2015, DOI: 10.1109/TNSRE.2014.2336597.
  10. S. Au, M. Berniker, and H. Herr, "Powered ankle-foot prosthesis to assist level-ground and stair-descent gait," Neural Networks, vol. 21, no.4, pp. 654-666, May, 2008, DOI: 10.1016/j.neunet.2008.03.006.
  11. B. J. Hafner and R. L. Askew, "Physical performance and self-report outcomes associated with use of passive, adaptive, and active prosthetic knees in persons with unilateral, transfemoral amputation: Randomized crossover trial," Journal of rehabilitation research and development, vol. 52, no. 6, pp. 677-700, 2015, DOI: 10.1682/JRRD.2014.09.0210.
  12. J. Park, G.-H. Yoon, J.-W. Kang, and S.-B. Choi, "Design and control of a prosthetic leg for aboveknee amputees operated in semi-active and active modes," Smart Materials and Structures, vol. 25, no. 8, pp. 13, 2016, DOI: 10.1088/0964-1726/25/8/085009.
  13. C. W. Radcliffe, "Four-bar linkage prosthetic knee mechanisms: kinematics, alignment and prescription criteria," Prosthet Orthot Int, vol. 18, no. 3, pp. 159-173, Dec., 1994, DOI: 10.3109/03093649409164401.
  14. D. A. Hobson and L. E. Torfason "Optimization of four-bar knee mechanisms - A computerized approach," Journal of Biomechanics, vol. 7, no. 4, pp. 371-376, Aug., 1974, DOI: 10.1016/0021-9290 (74)90032-3.
  15. S. Chauhan and S. Bhaduri, "Evaluation of the polycentric above knee prosthesis," Conf. NacoMM 2011, [Online], https://www.semanticscholar.org/paper/Evaluation-of-the-Polycentric-above-Knee-Prosthesis-Chauhan-Bhaduri/67ba527dde388cd11de1bb20a0fc5d3b5810757e.
  16. S.-J. Na, J.-W. Shin, S.-H. Eom, and E. H. Lee, "A Study on Random Forest-based Estimation Model for Changing the Automatic Walking Mode of Above Knee Prosthesis," Journal of IKEEE, vol. 24, no. 1, pp. 9-18, Mar., 2020, [Online], https://scienceon.kisti.re.kr/srch/selectPORSrchArticle.do?cn=JAKO202010548329363. 10548329363
  17. Y.-K. Kim, K.-R. Ryu, and C.-W. Hur, "A Study On Transmission Protocol for Controller Area Network," Korean Institute of Information and Commucation Sciences Conference, vol. 14, no. 1, pp. 836-838, May, 2010, [Online], https://koreascience.kr/article/CFKO201014258944475.page.
  18. J.-Y. Ahn, S.-S. Kim, Y.-J. Kim, S.-J. Park, and K.-I. Hur, "Design of CAN Communication Interface possible for Error Detection that use for Embedded System," The Journal of the Institute of Internet, Broadcasting and Communication, vol. 10, no. 1, pp. 69-74, 2010, [Online], https://koreascience.kr/article/JAKO201025736638589.page. 1025736638589.page
  19. N. S. Yun, K.-O. Yi, and J.-Y. Kim, "Kinematic comparison of walking on various inclined walkways," Journal of Korean Association of Physical Education and Sport for Girls and Women, vol. 13, no. 1, pp. 89-101, Sept., 1999, [Online], https://www.dbpia.co.kr/Journal/articleDetail?nodeId=NODE02480334.
  20. E. J. Rouse, L. M. Mooney, and H. M. Herr, "Clutchable serieselastic actuator: Implications for prosthetic knee design," The International Journal of Robotics Research, vol. 33, no. 13, pp. 1611-1625, Oct., 2014, DOI: 10.1177/0278364914545673.