Title: A biomechatronical transtibial prosthesis powered by pleated pneumatic artificial muscles

Authors: Rino Versluys, Anja Desomer, Gerlinde Lenaerts, Olivier Pareit, Bram Vanderborght, Georges Van der Perre, Louis Peeraer, Dirk Lefeber

Addresses: Robotics & Multibody Mechanics Research Group, Vrije Universiteit Brussel, Pleinlaan 2, 1050 Brussels, Belgium. ' Biomechanics Research Group, Vrije Universiteit Brussel, Pleinlaan 2, 1050 Brussels, Belgium. ' Biomechanics and Engineering Design Section and Research Centre for Movement Control and Neuroplasticity, Katholieke Universiteit Leuven, Celestijnenlaan 300c-2419, 3001 Heverlee, Belgium. ' Robotics & Multibody Mechanics Research Group, Vrije Universiteit Brussel, Pleinlaan 2, 1050 Brussels, Belgium. ' Robotics & Multibody Mechanics Research Group, Vrije Universiteit Brussel, Pleinlaan 2, 1050 Brussels, Belgium. ' Biomechanics and Engineering Design Section, Katholieke Universiteit Leuven, Celestijnenlaan 300c-2419, 3001 Heverlee, Belgium. ' Faculty of Kinesiology and Rehabilitation Sciences, Katholieke Universiteit Leuven, Weligerveld 1-2, 3212 Pellenberg, Belgium. ' Robotics & Multibody Mechanics Research Group, Vrije Universiteit Brussel, Pleinlaan 2, 1050 Brussels, Belgium

Abstract: Due to its high power-to-weight ratio, a pleated pneumatic artificial muscle (PPAM) offers an interesting alternative actuation source for robotic devices. Its inherent compliant behaviour excites another broad field of interest: assistive clinical devices such as powered exoskeletons and prosthetics. In this paper, the design of a pneumatically powered transtibial prosthetic device is presented. A first prototype has been built and provides a preliminary test bed for control algorithm development and testing with able-bodied subjects in laboratory conditions. The characteristics and working principle of a PPAM are described. The design specifications and the mechanical model of the prosthesis are discussed. The mechanical design and the control structure are outlined. Furthermore, some initial walking trials with an able-bodied subject wearing the prosthesis prototype are presented and discussed.

Keywords: amputees; pleated pneumatic artificial muscles; PPAM; prototype; stiffness; torque; robot actuators; biomechatronics; transtibial prosthesis; control algorithms; mechanical modelling; mechanical design; control structure; walking trials; transtibial amputation; walking biomechanics.

DOI: 10.1504/IJMIC.2008.021479

International Journal of Modelling, Identification and Control, 2008 Vol.4 No.4, pp.394 - 405

Published online: 28 Nov 2008 *

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