In this project, we investigate advanced robotic replacements for human legs. In collaboration with ETH Zürich, we have recently realized a lightweight knee-prosthesis, the ANGELAA-leg, which replicates physiological stiffness modulation during gait:
Powered Knee Prosthesis
We are especially interested in finding out how amputees can intuitively control such an active prosthetic leg. To this end, we have investigated control strategies that use residual body motion to control the prosthesis. In addition, we are trying to find out whether sensory augmentation can help amputees control their leg.
- Pfeifer, S.; Pagel, A.; Riener, R. & Vallery, H.
Actuator With Angle-Dependent Elasticity for Biomimetic Transfemoral Prostheses (.pdf)
IEEE/ASME Transactions on Mechatronics, 2015, 20(3), 1384-1394.
- Pfeifer, S., Vallery, H., Hardegger, M., Riener, R. & Perreault, E. J.
Model-Based Estimation of Knee Stiffness
IEEE Transactions on Biomedical Engineering, 2012, 59 (9), 2604-2612.
- H. Vallery, R. Burgkart, C. Hartmann, J. Mitternacht, R. Riener, M. Buss
Complementary limb motion estimation for the control of active knee prostheses (.pdf)
Biomedizinische Technik/Biomedical Engineering 2011 56:1 , 45-51