Abstract
The purpose of this study was to develop a hybrid-powered prosthetic knee and ankle (power leg) using the brushless DC (BLDC) modules and hydraulic breakers of stance and swing phase control. The system comprised BLDC motors for the swing phase control unit and hydraulic cylinders for the stance phase control unit. An individual could walk using a low-power battery for a longer time than with a fully active or powered prosthetic leg. Moreover, the individual could walk by applying less kicking force. More stable lateral symmetry was exhibited than a prosthesis of stance phase control type. The gait algorithm is classified into five gait events using the inertial and load sensors: heel contact, heel rise, toe-off, swing flexion, and swing extension. We controlled the hydraulic breaker’s resistance force at each gait event and generated gait motion using the BLDC motors. The reliability of the system was evaluated by a transfemoral amputee subject. By comparing the gait character between the power leg and the stance phase control type prosthesis, we confirmed that the power leg improved the center of pressure (COP) of the lateral symmetry by about 71% from the center.
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