Design and Control of a Powered Knee and Ankle Prosthesis

  title={Design and Control of a Powered Knee and Ankle Prosthesis},
  author={Frank Sup and Amit Bohara and Michael Goldfarb},
  journal={Proceedings 2007 IEEE International Conference on Robotics and Automation},
This paper describes the design and control of a transfemoral prosthesis with pneumatically powered knee and ankle joints. The current version of the prosthesis serves as a laboratory testbed for purposes of controller development and testing, and as such is tethered for both power and control. A subsequent version will be self-contained, with on-board control and hot gas (monopropellant) actuation. This paper presents the design of the prosthesis prototype, which is in essence a two degree-of… CONTINUE READING
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