Validation of Pneumatic Artificial Muscle for Powered Transfemoral Prostheses

Abstract

Abstract—Despite progression in technology and medicine, lower limb prostheses users still endure many challenges that prohibit them from regaining their original movement abilities. Currently developed lower limb prostheses have been drastically improved in the last two decades; however, they still lack the actuation element which corresponds to the skeletal muscle in a biological limb. The main obstacle to this achievement has been the lack of a high power, small and light actuator. Electrical motors, hydraulic and pneumatic cylinders are very effective for most industrial applications; however, they are not suitable for prostheses-type applications. The implemented actuator must be light, powerful, energy efficient as well as safe to interact with user. In this paper, the validation of the Pneumatic Artificial Muscle for powered transfemoral prostheses is investigated. This is achieved by determining the kinetic and kinematic requirements of a human knee throughout walking, stair ascending/descending and sits to stand movements.

Index Terms—Pneumatic Artificial Muscle, powered lower limb prostheses