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The MIT Leg Lab: From Robots to Rehab

The MIT Leg Lab: From Robots to Rehab. Otto Bock C-Leg. Flex-Foot. State Of The Art. State of the Art: Prosthetist defines knee damping. Otto Bock C-Leg. Virtual Prosthetist. Virtual Biomechanist. The MIT Knee: A Step Towards Autonomy. How The MIT Knee Works: Mechanism. Knee Position

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The MIT Leg Lab: From Robots to Rehab

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  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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