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

作     者：Yuanxi Sun Hao Tang Yuntao Tang Jia Zheng Dianbiao Dong Xiaohong Chen Fuqiang Liu Long Bai Wenjie Ge Liming Xin Huayan Pu Yan Peng Jun Luo Yuanxi Sun;Hao Tang;Yuntao Tang;Jia Zheng;Dianbiao Dong;Xiaohong Chen;Fuqiang Liu;Long Bai;Wenjie Ge;Liming Xin;Huayan Pu;Yan Peng;Jun Luo

作者机构：State Key Laboratory of Mechanical TransmissionChongqing UniversityChongqing 400044China School of Mechanical EngineeringTianjin UniversityTianjin 300072China College of Mechanical EngineeringChongqing UniversityChongqing 400044China School of Advanced Manufacturing EngineeringChongqing University of Posts and TelecommunicationsChongqing 400065China School of Mechanical EngineeringNorthwestern Polytechnical UniversityXi’an 710072China Department of Mechanical EngineeringVrije Universiteit Brussel1050 BrusselsBelgium Department of Mechanical&Industrial EngineeringUniversity of TorontoToronto M5S 2E8Canada Research Institute of Unmanned Surface Vessel(USV)EngineeringShanghai UniversityShanghai 200444China 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2021年第18卷第4期

页      面：764-785页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：This work was supported by the National Natural Science Foundation of China(Grant Nos.62003060,51975070 and 62033001) the National Key Research and Development Program of China under Grant 2020YFB1313000 

主　　题：bionic robotic knee prosthesis prosthetic knee mechanism actuation control 

摘      要：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 *** 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 ***,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 ***,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 *** and qualitative analysis and comparison of robotic knee prosthesis-related techniques are *** 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 ***,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.