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[2021-Vol.18-Issue 4]Review of Recent Progress in Robotic Knee Prosthesis Related Techniques: Structure, Actuation and Control
Post: 2021-08-07 12:15  View:340

J Bionic Eng 18 (2021) 764–785 DOI: https://doi.org/10.1007/s42235-021-0065-4 

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

Yuanxi Sun1*, Hao Tang2, Yuntao Tang3 , Jia Zheng4, Dianbiao Dong5,6, Xiaohong Chen3, Fuqiang Liu1, Long Bai1, Wenjie Ge5, Liming Xin7,8, Huayan Pu8 , Yan Peng8, Jun Luo1 

1. State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044, China 

2. School of Mechanical Engineering, Tianjin University, Tianjin 300072, China 

3. College of Mechanical Engineering, Chongqing University, Chongqing 400044, China 

4. School of Advanced Manufacturing Engineering, Chongqing University of Posts and Telecommunications, Chongqing 400065, China 

5. School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an 710072, China 

6. Department of Mechanical Engineering, Vrije Universiteit Brussel, 1050 Brussels, Belgium 

7. Department of Mechanical & Industrial Engineering, University of Toronto, Toronto M5S 2E8, Canada 

8. Research Institute of Unmanned Surface Vessel (USV) Engineering, Shanghai University, Shanghai 200444, China 

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. 

Keywords: bionic, robotic knee prosthesis, prosthetic knee, mechanism, actuation, control

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