Name
Abstract | ||
|---|---|---|
Challenges associated with current prosthetic technologies limit the quality of life of lower-limb amputees. Passive prostheses lead amputees to walk slower, use more energy, fall more often, and modify their gait patterns to compensate for the prosthesis' lack of net-positive mechanical energy. Robotic prostheses can provide mechanical energy, but may also introduce challenges through controller design. Fortunately, talented researchers are studying how to best control robotic leg prostheses, but the time and resources required to develop prosthetic hardware has limited their potential impact. Even after research is completed, comparison of results is confounded by the use of different, researcher-specific hardware. To address these issues, we have developed the Open-source Leg (OSL): a scalable robotic knee/ankle prosthesis intended to foster investigations of control strategies. This paper introduces the design goals, transmission selection, hardware implementation, and initial control benchmarks for the OSL. The OSL provides a common hardware platform for comparison of control strategies, lowers the barrier to entry for prosthesis research, and enables testing within the lab, community, and at home. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/BIOROB.2018.8488057 | 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) |
Keywords | Field | DocType |
Open-source robotic Leg prosthesis,lower-limb amputees,passive prostheses,gait patterns,net-positive mechanical energy,prosthetic hardware,OSL,hardware implementation,prosthesis research,prosthetic technologies,robotic knee-ankle prosthesis,transmission selection | Prosthesis,Leg prosthesis,Gait,Simulation,Controller design,Computer science,Mechanical energy,Pulley,Ankle,Scalability | Conference |
ISSN | ISBN | Citations |
2155-1774 | 978-1-5386-8184-8 | 4 |
PageRank | References | Authors |
0.65 | 0 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Alejandro F. Azocar | 1 | 4 | 0.65 |
| Luke M. Mooney | 2 | 47 | 5.30 |
| Levi J Hargrove | 3 | 438 | 42.47 |
| Elliott J. Rouse | 4 | 54 | 12.27 |