ArticleIEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division2022
Design and Backdrivability Modeling of a Portable High Torque Robotic Knee Prosthesis With Intrinsic Compliance For Agile Activities.
Article in IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 10 papers.
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Who cites it
10 citing papers in PubMed.
- State of the art of lower limb prosthesis simulators: A literature review.Wearable technologies · 2026Review
- A Pilot Study on Motion Intention Mapping and Direct Myoelectric Control Method for Prosthetic Knee Based on LSTM Network and Human-Machine Coupling Model.Sensors (Basel, Switzerland) · 2025Article
- Compact and Foldable Hip Exoskeleton With High Torque Density Actuator for Walking and Stair-Climbing Assistance in Young and Older Adults.IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 2025Article
- Controlling Negative and Positive Power for Efficiency Enhancement and Muscle Strain Mitigation During Squatting with a Portable Knee Exoskeleton.Annals of biomedical engineering · 2025Article
- Biomechanics-Informed Mechatronics Design of Comfort-Centered Portable Hip Exoskeleton: Actuator, Wearable Interface, Controller.IEEE transactions on medical robotics and bionics · 2025Article
- ChMER: an exoskeleton robot with active body weight support walker based on compliant actuation for children with cerebral palsy.Frontiers in bioengineering and biotechnology · 2025Article
- Intelligent prosthetic hips and knees: from actuation to perception and control.Frontiers in neuroscience · 2025Review
- A lightweight robotic leg prosthesis replicating the biomechanics of the knee, ankle, and toe joint.Science robotics · 2022Article
- Bio-inspired design of a self-aligning, lightweight, and highly-compliant cable-driven knee exoskeleton.Frontiers in human neuroscience · 2022Article
- Gait Event Detection with Proprioceptive Force Sensing in a Powered Knee-Ankle Prosthesis: Validation over Walking Speeds and Slopes.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and AutomationArticle
Corrections and comments
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Authors and funding
5 authors.
Funding
Abstract
High-performance prostheses are crucial to enable versatile activities like walking, squatting, and running for lower extremity amputees. State-of-the-art prostheses are either not powerful enough to support demanding activities or have low compliance (low backdrivability) due to the use of high speed ratio transmission. Besides speed ratio, gearbox design is also crucial to the compliance of wearable robots, but its role is typically ignored in the design process. This paper proposed an analytical backdrive torque model that accurately estimate the backdrive torque from both motor and transmission to inform the robot design. Following this model, this paper also proposed methods for gear transmission design to improve compliance by reducing inertia of the knee prosthesis. We developed a knee prosthesis using a high torque actuator (built-in 9:1 planetary gear) with a customized 4:1 low-inertia planetary gearbox. Benchtop experiments show the backdrive torque model is accurate and proposed prosthesis can produce 200 Nm high peak torque (shield temperature <60°C), high compliance (2.6 Nm backdrive torque), and high control accuracy (2.7/8.1/1.7 Nm RMS tracking errors for 1.25 m/s walking, 2 m/s running, and 0.25 Hz squatting, that are 5.4%/4.1%/1.4% of desired peak torques). Three able-bodied subject experiments showed our prosthesis could support agile and high-demanding activities.
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Registered trials
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