A pneumatically powered below-knee prosthesis: Design specifications and first experiments with an amputee

This paper reports on the development of a powered below-knee (BK) prosthesis. The initial prosthesis prototype is a pneumatically powered system, which serves as test bed for proof-of-concept and evaluating control algorithms in laboratory conditions. The mechatronical design of the prosthesis is described, including the selection, the characteristics and working principle of its actuators. The control approach is discussed. First experimental results with an amputee are presented that demonstrate the promising performance properties of the powered prosthesis in restoring ankle power to the user in level walking.