Review of Recent Progress in Robotic Knee Prosthesis Related Techniques: Structure, Actuation and Control

Yuanxi Sun,Yuntao Tang,Long Bai,Liming Xin,Jia Zheng,Huayan Pu,Wenjie Ge,Yan Peng,Dianbiao Dong,Xiaohong Chen,Jun Luo,Hao Tang,Fuqiang Liu

doi:10.1007/s42235-021-0065-4

Abstract

As the essential technology of human-robotics interactive wearable devices, the robotic knee prosthesis can provide above-knee amputations with functional knee compensations to realize their physical and psychological social regression. With the development of mechanical and mechatronic science and technology, the fully active knee prosthesis that can provide subjects with actuating torques has demonstrated a better wearing performance in slope walking and stair ascent when compared with the passive and the semi-active ones. Additionally, with intelligent human-robotics control strategies and algorithms, the wearing effect of the knee prosthesis has been greatly enhanced in terms of stance stability and swing mobility. Therefore, to help readers to obtain an overview of recent progress in robotic knee prosthesis, this paper systematically categorized knee prostheses according to their integrated functions and introduced related research in the past ten years (2010–2020) regarding (1) mechanical design, including uniaxial, four-bar, and multi-bar knee structures, (2) actuating technology, including rigid and elastic actuation, and (3) control method, including mode identification, motion prediction, and automatic control. Quantitative and qualitative analysis and comparison of robotic knee prosthesis-related techniques are conducted. The development trends are concluded as follows: (1) bionic and lightweight structures with better mechanical performance, (2) bionic elastic actuation with energy-saving effect, (3) artificial intelligence-based bionic prosthetic control. Besides, challenges and innovative insights of customized lightweight bionic knee joint structure, highly efficient compact bionic actuation, and personalized daily multi-mode gait adaptation are also discussed in-depth to facilitate the future development of the robotic knee prosthesis.

Highlights

With the rapid development of human society, traffic accidents, industrial injuries, human-made disasters, war, and diseases have led to an increasing number of patients with limb function losses
For patients with lower limb disabilities, the primary goal of self-care rehabilitation is to restore their limb functions, where the robotic knee prosthesis acts as the primary functional component
The robotic knee prosthesis enables them to walk by controlling the shank posture, providing necessary knee joint torque and swing damping, and stabilizing the lower limb, etc., realizing both the physical and psychological social return of these patients

Summary

Introduction

With the rapid development of human society, traffic accidents, industrial injuries, human-made disasters, war, and diseases have led to an increasing number of patients with limb function losses. These patients are unable to achieve daily life due to physical disability, and huge psychological burdens caused more significant harm to themselves and their families. The robotic knee prosthesis enables them to walk by controlling the shank posture, providing necessary knee joint torque and swing damping, and stabilizing the lower limb, etc., realizing both the physical and psychological social return of these patients.

Methods

Findings

Discussion

Conclusion