Highly Compact Swing Assistive Knee Prosthesis Integrating Active and Passive Hydraulic Systems
This work proposes a novel partially powered knee prosthesis to give full support to swing related activities. It represents a technological step forward when compared to microprocessor-controlled knees. The device is based on the electro-hydrostatic actuation principle, combined with the use of a s...
Saved in:
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2025-01-01
|
| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10990217/ |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1850136776682766336 |
|---|---|
| author | Marco Puliti Federico Tessari Renato Galluzzi Nicola Amati Andrea Tonoli Matteo Laffranchi |
| author_facet | Marco Puliti Federico Tessari Renato Galluzzi Nicola Amati Andrea Tonoli Matteo Laffranchi |
| author_sort | Marco Puliti |
| collection | DOAJ |
| description | This work proposes a novel partially powered knee prosthesis to give full support to swing related activities. It represents a technological step forward when compared to microprocessor-controlled knees. The device is based on the electro-hydrostatic actuation principle, combined with the use of a series rotary valve to aid during dissipative phases. Another key feature is the backdrivability enabled by a directly coupled fluid-based actuation principle. To this end, we present a compact design that is subsequently built and tested experimentally with an able-body adapter to simulate a real-case scenario of level walking and stair tasks. Results are compared with the features of existing commercial and research devices. To the best of the authors’ knowledge, the proposed prosthesis is the most compact electro-hydrostatic swing assistive device with the potential to improve the walking gait, for instance by increasing toe clearance and likely reducing the occurrence of stumbling or falling events. Additionally, the prototype enables stair ascent in a step-over fashion, a capability generally unattainable with commercial microprocessor-controlled knees. |
| format | Article |
| id | doaj-art-fb83acee29124f31ac4e3c6dba5f80ec |
| institution | OA Journals |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-fb83acee29124f31ac4e3c6dba5f80ec2025-08-20T02:31:02ZengIEEEIEEE Access2169-35362025-01-0113820328204210.1109/ACCESS.2025.356788110990217Highly Compact Swing Assistive Knee Prosthesis Integrating Active and Passive Hydraulic SystemsMarco Puliti0https://orcid.org/0000-0002-0242-7150Federico Tessari1https://orcid.org/0000-0002-3079-0643Renato Galluzzi2https://orcid.org/0000-0001-6125-8222Nicola Amati3Andrea Tonoli4Matteo Laffranchi5https://orcid.org/0000-0003-1189-281XRehab Technologies INAIL-IIT Laboratory, Italian Institute of Technology, Genoa, ItalyLaboratory for Biomechanics and Human Rehabilitation, Massachusetts Institute of Technology, Cambridge, MA, USASchool of Engineering and Sciences, Tecnologico de Monterrey, Mexico City, MexicoCenter for Automotive Research and Sustainable Mobility (CARS), Politecnico di Torino, Turin, ItalyCenter for Automotive Research and Sustainable Mobility (CARS), Politecnico di Torino, Turin, ItalyRehab Technologies INAIL-IIT Laboratory, Italian Institute of Technology, Genoa, ItalyThis work proposes a novel partially powered knee prosthesis to give full support to swing related activities. It represents a technological step forward when compared to microprocessor-controlled knees. The device is based on the electro-hydrostatic actuation principle, combined with the use of a series rotary valve to aid during dissipative phases. Another key feature is the backdrivability enabled by a directly coupled fluid-based actuation principle. To this end, we present a compact design that is subsequently built and tested experimentally with an able-body adapter to simulate a real-case scenario of level walking and stair tasks. Results are compared with the features of existing commercial and research devices. To the best of the authors’ knowledge, the proposed prosthesis is the most compact electro-hydrostatic swing assistive device with the potential to improve the walking gait, for instance by increasing toe clearance and likely reducing the occurrence of stumbling or falling events. Additionally, the prototype enables stair ascent in a step-over fashion, a capability generally unattainable with commercial microprocessor-controlled knees.https://ieeexplore.ieee.org/document/10990217/Amputationelectro-hydrostatic actuationknee prosthesismechatronics |
| spellingShingle | Marco Puliti Federico Tessari Renato Galluzzi Nicola Amati Andrea Tonoli Matteo Laffranchi Highly Compact Swing Assistive Knee Prosthesis Integrating Active and Passive Hydraulic Systems IEEE Access Amputation electro-hydrostatic actuation knee prosthesis mechatronics |
| title | Highly Compact Swing Assistive Knee Prosthesis Integrating Active and Passive Hydraulic Systems |
| title_full | Highly Compact Swing Assistive Knee Prosthesis Integrating Active and Passive Hydraulic Systems |
| title_fullStr | Highly Compact Swing Assistive Knee Prosthesis Integrating Active and Passive Hydraulic Systems |
| title_full_unstemmed | Highly Compact Swing Assistive Knee Prosthesis Integrating Active and Passive Hydraulic Systems |
| title_short | Highly Compact Swing Assistive Knee Prosthesis Integrating Active and Passive Hydraulic Systems |
| title_sort | highly compact swing assistive knee prosthesis integrating active and passive hydraulic systems |
| topic | Amputation electro-hydrostatic actuation knee prosthesis mechatronics |
| url | https://ieeexplore.ieee.org/document/10990217/ |
| work_keys_str_mv | AT marcopuliti highlycompactswingassistivekneeprosthesisintegratingactiveandpassivehydraulicsystems AT federicotessari highlycompactswingassistivekneeprosthesisintegratingactiveandpassivehydraulicsystems AT renatogalluzzi highlycompactswingassistivekneeprosthesisintegratingactiveandpassivehydraulicsystems AT nicolaamati highlycompactswingassistivekneeprosthesisintegratingactiveandpassivehydraulicsystems AT andreatonoli highlycompactswingassistivekneeprosthesisintegratingactiveandpassivehydraulicsystems AT matteolaffranchi highlycompactswingassistivekneeprosthesisintegratingactiveandpassivehydraulicsystems |