Retractable Prosthesis for Transfemoral Amputees Using Series Elastic Actuators and Force Control

TL;DR

This paper introduces a cost-effective transfemoral prosthesis utilizing series elastic actuators for precise force control, comfort, and dynamic performance, with a focus on knee actuation and socket design.

Contribution

It presents a novel prosthesis design combining series elastic actuators with a specialized socket for improved functionality and comfort.

Findings

Accurate force control achieved with series elastic actuators

Low impedance and large dynamic range demonstrated

Enhanced comfort through mirroring of socket compliance

Abstract

We present a highly functional and cost-effective prosthesis for transfemoral amputees that uses series elastic actuators. These actuators allow for accurate force control, low impedance and large dynamic range. The design involves one active joint at the knee and a passive joint at the ankle. Additionally, the socket was designed using mirroring of compliances to ensure maximum comfort.