Rethinking Some Aspects of Powered Knee Prostheses for Human-Like Walking
Author(s)
Goldfarb, Michael
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Abstract
Lower limb prostheses have traditionally been energetically passive, and therefore have been functionally deficient relative to the healthy limb, which can both generate and dissipate power. Over the past 15 years or so, researchers have been exploring the development of powered prostheses, which employ a robotics approach to the design and control of lower limb prostheses. Adding power in this manner, particularly in a knee prosthesis, expands the range of knee behaviors into powered regions of the power plane, but also compromises the range of behaviors in passive regions of the power plane which are essential to human walking. This talk makes a case for the importance of retaining the very low-output-impedance behaviors in the passive regions of the power plane, and suggests approaches for supplementing passive functionality with power, without compromising or supplanting the low-impedance passive behaviors that are an essential aspect of human movement.
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Date
2025-10-01
Extent
59:28 minutes
Resource Type
Moving Image
Resource Subtype
Lecture
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