Design and Validation of a Polycentric Hybrid Knee Prosthesis With Electromagnet-Controlled Mode Transition

A hybrid knee prosthesis is proposed in this letter, which consists of a polycentric structure passive mode for low-torque activities and single-axis active high-torque activities. novel transition mechanism controls self-holding electromagnets switching modes between the four-bar linkage structure. Compared with conventional knee, varying instantaneous center rotation (ICR) can enhance geometric stability increase toe clearance mode. For mode, we developed custom embedded electric system, employed torque control stance position swing. The results bench tests indicated that bandwidth controller was suitable locomotion. clinical test level-ground walking without sudden buckling stumble validated by three subjects. Regarding climbing stairs, typical activity daily locomotion, all subjects reach maximum around 0.95 Nm/kg comparable to able-bodied.