Presentation Transcript
Jessica Banks: Jessica Banks MIT AI Lab
Humanoid Robotics Group
&
Living Machines
Prosthetics and Legged Robots : Prosthetics and Legged Robots Principal Investigator: Hugh Herr
Slide4: The MIT Leg Lab: From Robots to Rehab
State of the Art: Prosthetist defines knee damping: State of the Art: Prosthetist defines knee damping Otto Bock C-Leg
The MIT Knee: A Step Towards Autonomy: The MIT Knee: A Step Towards Autonomy
Slide13: How The MIT Knee Works:
Mechanism
How The MIT Knee Works: Sensors: How The MIT Knee Works: Sensors Knee Position
Axial Force
Bending Moment
Measured Local to Knee Axis (no ankle or foot sensors)
Amputee can use vertical shock system
Slide15: The MIT Knee In Action
Slide16: Series-Elastic Actuators (Muscle-Tendon)
Slide17: Controlling Force, not Position Weight: 2.5 lbs.
Stroke: 3 in.
Max. Force: 300 lbs.
Force Bandwidth: 30 Hz
Towards the Future: Distributed Sensing Measuring User Intent with Bions: Towards the Future: Distributed Sensing Measuring User Intent with Bions
Slide19: Towards the Future: Force Controllable Orthoses
Slide20: Summary Advances in the science of legged locomotion, bioactuation, and sensing are necessary to step towards the next generation of O&P leg systems
Slide21: Collaborators Leg Laboratory
Gill Pratt
Biomechatronics Group
Robert Dennis (UM)
Nadia Rosenthal (MGH)
Richard Marsh (NE)
Spaulding Gait Laboratory
Casey Kerrigan
Pat Riley
Slide22: Sponsors Össur
DARPA
Schaeffer Foundation