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Revolutionizing Prosthetics: The MIT Knee and Next-Gen Biomechatronics

Explore the groundbreaking advancements in prosthetic technology with the MIT Knee's innovative design and functions. This comprehensive overview examines mechanisms of knee damping, stance and swing control, and virtual prosthetics that enhance user autonomy and mobility. Discover how intelligent applications of power and advanced actuators contribute to improved rehabilitation outcomes, leading to a more natural gait. Join us on a journey through the future of orthotics and prosthetics (O&P) as we unravel the science behind efficient, responsive leg systems.

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Revolutionizing Prosthetics: The MIT Knee and Next-Gen Biomechatronics

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Presentation Transcript

  1. The MIT Leg Lab: From Robots to Rehab

  2. Otto Bock C-Leg Flex-Foot State Of The Art

  3. State of the Art: Prosthetist defines knee damping Otto Bock C-Leg

  4. Virtual Prosthetist Virtual Biomechanist The MIT Knee: A Step Towards Autonomy

  5. How The MIT Knee Works: Mechanism

  6. Knee Position Axial Force Bending Moment Measured Local to Knee Axis (no ankle or foot sensors) How The MIT Knee Works:Sensors Amputee can use vertical shock system

  7. How the MIT Knee Works: Stance Control Goal: Early Stance Flexion & Extension

  8. Stance Control: Three States • Stance Flexion & Stance Extension • A variable hydraulic damper • Damping scales with axial load • Late Stance • Minimize damping Toe-Loading to trigger late-stance zero damping is automatically adjusted by system

  9. Stance Flexion

  10. How the MIT Knee Works: Swing Control Goal: Control Peak Flexion Angle & Terminal Impact

  11. Swing Control: Flexion

  12. Swing Control: Flexion

  13. Swing Phase: Extension Foot Contact Time Extension damping adaptation • Stage one: • Map tc versus impact force • Apply appropriate damping • Stage two: • Control final angle while minimizing impact force

  14. The MIT Knee In Action

  15. 1 0 -1 Human Knees Brake and Thrust Power (W/Kg) Percent Gait Cycle

  16. Human Ankles are Smart Springs Leg stiffness control in walking and running humans Variable stiffness foot-ankle systems

  17. Human Ankles are Powered

  18. Future of O&P Leg Systems: Intelligent Application of Power • Greater Distance & Less Fatigue • Natural Gait - Dynamic Cosmesis • Enhanced Stability • Increased Mobility

  19. Human Rehab: A Road Map to the Future Better Power Systems and Actuators

  20. Series-Elastic Actuators(Muscle-Tendon)

  21. Controlling Force, not Position Weight: 2.5 lbs. Stroke: 3 in. Max. Force: 300 lbs. Force Bandwidth: 30 Hz

  22. Biomechatronics Group Hybrid Robots • Nearly autonomous • Controllable • Swam 0.5 body length per second

  23. Human Rehab: A Road Map to the Future Improved Walking Models

  24. Low Stiffness Control: Virtual Model Control Language • Passive walkers work using physical components • Q: Can active walker algorithms be expressed using physical metaphors? • A: Yes, and they perform surprisingly well

  25. Virtual Assistive Devices for Legged Robots

  26. Troody

  27. Technology Science What are the biological models for human walking? Virtual Model Control Active O&P Leg Systems

  28. Human Rehab: A Road Map to the Future Distributed Sensing and Intelligence

  29. Virtual Prosthetist Virtual Biomechanist User Intent

  30. Collaborators • Leg Laboratory • Gill Pratt • Biomechatronics Group • Robert Dennis (UM) • Nadia Rosenthal (MGH) • Richard Marsh (NE) • Spaulding Gait Laboratory • Casey Kerrigan • Pat Riley

  31. Sponsors • Össur • DARPA • Schaeffer Foundation

  32. Summary Advances in the science of legged locomotion, bioactuation, and sensing are necessary to step towards the next generation of O&P leg systems

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