Design and Validation of a Lightweight, Low-Profile Powered Knee Prosthesis with Quasi-Direct Drive Actuation

2026-09-01

AI Summary

本文设计并验证了一种轻量级低轮廓的电动膝关节假肢，通过优化传动装置和采用准直驱技术解决了现有设备过重和体积大的问题。

Abstract

Fully-powered knee prostheses, unlike traditional passive knees, can perform controlled positive work, reducing the need for compensatory behaviors by users during energy-intensive activities. While quasi-direct drive (QDD) actuators provide superior torque control, backdrivability, and acoustic noise properties compared to traditional highly-geared actuators, prior QDD prototypes have been too heavy and bulky for commercial translation. In this work, we present the design and validation of a new lightweight (2.6 kg) and low-profile (24.5 cm tip-to-tip build height) QDD knee prosthesis. By optimizing an 18 to 1 two-stage transmission alongside thermal and structural finite-element analyses, we significantly reduce device mass while enabling a peak torque of 145 Nm. Through benchtop tests, we validate the device's high output torque, low backdrive torque (1 Nm), and its precision position and torque control capabilities. We also demonstrate biomimetic kinematics and peak knee extension torques (within one standard deviation of able-bodied references) during both level-ground walking and sit-stand transitions performed by three participants with transfemoral amputation and varying K-levels. By meeting or improving upon the mass, build height, peak torque, and acoustic noise of a leading commercial powered knee, this work establishes the clinical viability of emerging QDD prostheses that promise improved dynamic performance for their users.

Problem

• lightweight
• low-profile
• powered knee prosthesis
• quasi-direct drive
• compensatory behaviors

Innovation

• Quasi-Direct Drive (QDD)
• Lightweight Prosthesis
• Low-Profile Design
• Optimized Transmission
• Biomimetic Kinematics