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Real Time Control of Above-Knee Prosthesis with Powered Knee and Ankle Joints

  • Zlata JelačićEmail author
  • Remzo Dedić
Conference paper
Part of the Lecture Notes in Networks and Systems book series (LNNS, volume 76)

Abstract

Passive prostheses, which are mostly used by amputees, enable performance of various activities such as walking on levelled and inclined ground, and even running, riding a bicycle and as of lately swimming. However, performing high power demanding tasks, such as stair ascent, presents a problem, because the lack of muscles makes it impossible to produce the required forces. To perform high demanding power activities, prosthesis must be powered, primarily in its main joints – knee and ankle. In this paper, we present the real time control of newly developed above-knee prosthetic SmartLeg prototype with powered knee and ankle joints. Specialized control unit is developed in order to achieve required kinematics and dynamics to enable it to perform high power demanding activities in more natural manner, especially stair ascent.

Keywords

Powered above-knee prosthesis Control unit Real time control Prototype testing 

References

  1. 1.
    Jelačić, Z.: Contact force problem in the rehabilitation robot control design. In: Badnjevic, A. (ed.) CMBEBIH 2017: Proceedings of the International Conference on Medical and Biological Engineering 2017, pp. 193–204. Springer, Singapore (2017)Google Scholar
  2. 2.
    Rupar, M., Jelačić, Z., Dedić, R., Vučina, A.: Power and control system of knee and ankle powered above knee prosthesis. In: New Technologies, Development and Applications. Springer International Publishing AG (2019). ISBN 978-3-319-90893-9Google Scholar
  3. 3.
    Jelačić, Z., Dedić, R., Isić, S., Husnić, Ž.: Matlab simulation of robust control for active above-knee prosthetic device. In: Advanced Technologies, Systems, and Applications III. Lecture Notes in Networks and Systems. Springer International Publishing AG (2019). ISBN 978-3-030-02576-2Google Scholar
  4. 4.
    Ascension Technology Corporation: 3D Guidance trakSTAR WIDE-RANGE, 14 October 2017. http://www.ascension-tech.com/

Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Faculty of Mechanical EngineeringUniversity of SarajevoSarajevoBosnia and Herzegovina
  2. 2.University of MostarMostarBosnia and Herzegovina

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