Design of a compact active hip prosthesis with human-like range of motion and torque
(2024) 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob) — Location: Heidelberg (1.September.2024)
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- Abstract
- Hip disarticulation and hemipelvectomy are the most severe forms of lower limb amputation, posing significant challenges to prosthetic solutions in terms of size, biomechanical functionality, and user compatibility. While active ankle and knee prostheses have made spectacular progresses recently in restoring a physiological gait, these advancements did not percolate yet to hip prosthesis design. This article introduces an innovative design of an active hip prosthesis displaying remote center of motion, and range of motion and torque compatible with the most ubiquitous locomotion tasks, i.e., walking and stand-to-sit-to-stand transitions. The designed structure incorporates a tilted double parallelogram mechanism, in order to optimize compactness and minimize internal constraints. The proposed hip prosthesis design features minimal encumbrance, with a horizontal size of 140mm and a frontal width of 136mm. Its range of motion spans from -30° to 90°, providing a comfortable sitting position with existing shell design. Remarkably, the mass of this hip joint is a mere 3.30Kg, excluding the battery and drive electronics mass.
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Citations
Devillez, L., Herman, B., & Ronsse, R. (2024). Design of a compact active hip prosthesis with human-like range of motion and torque. 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), 160-166. https://doi.org/10.1109/BioRob60516.2024.10719919 (Original work published 2024)