Design, Test, and Evaluation of a High Powered 4 DOF Prosthetic Leg for Transfemoral Amputees

A high powered 4 DOF prosthesis for transfemoral amputees is presented in this paper. The prosthesis utilizes series elastic actuators with high powered hobby grade helicopter motors capable of providing 2880~W of power each for knee and ankle pitch and ankle roll. In addition, a yaw motor with a planetary gearbox combination is used for yaw actuation providing up to 21~Nm of torque. The prosthesis was designed to accommodate a variety of activities including, but not limited to, walking, running, and stair climbing.

Name thesis:degree_name

Master of Science

Level thesis:degree_level

masters

Discipline thesis:degree_discipline

Mechanical Engineering

Department dc:contributor.department

Mechanical Engineering

Grantor dc:publisher

Virginia Tech

Year dc:date.issued

2019

Author dc:creator

• Greczek, Brandyn Thomas

Chair dc:contributor.committeechair

• Asbeck, Alan T.

Committee members dc:contributor.committeemember

• Leonessa, Alexander
• Nussbaum, Maury A.

• Transfemoral
• Transtibial
• Prosthesis
• High Power

Statement dc:rights

• In Copyright

Licence dc:rights.uri

• http://rightsstatements.org/vocab/InC/1.0/

Dc Identifier Other

vt_gsexam:21671

OAI identifier oai:identifier

oai:vtechworks.lib.vt.edu:10919/90791