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<p>This study presents the development of a quasi-active knee prosthesis incorporating an agonist–antagonist actuation mechanism for transfemoral amputees. The device integrates two single-acting hydraulic dampers: an actively controlled flexion-side damper driven by a brushless DC motor and a passive extension-side damper. A series spring assists in energy storage and release to enhance gait efficiency. Real-time gait phase recognition is achieved using an IMU and rotary encoder, and a control algorithm modulates joint stiffness accordingly. A multi-degree-of-freedom dynamic model and modal analysis were conducted to define feasible stiffness and damping parameters. The system was evaluated through MATLAB-based simulations, simulator experiments, and level-ground walking trials with an amputee. Results demonstrated that the prosthesis effectively reduced knee buckling during heel strike, supported smooth gait transitions, and ensured stable performance under prolonged use. The proposed design achieves reliable and energy-efficient control with a lightweight structure, offering a practical solution for adaptive prosthetic knee systems.</p>

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Development of Variable-Stiffness Knee Prosthesis with Agonist-Antagonist Mechanism for Lower-Limb Amputees

  • 期刊论文

  • 发表日期：

    2026年1月12日

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  • Ji-Woon Lee,
  • Na-Jeong Kim,
  • Chang-Sik John Pak,
  • Hak Yi,
  • Ki-Young Kim

摘要

This study presents the development of a quasi-active knee prosthesis incorporating an agonist–antagonist actuation mechanism for transfemoral amputees. The device integrates two single-acting hydraulic dampers: an actively controlled flexion-side damper driven by a brushless DC motor and a passive extension-side damper. A series spring assists in energy storage and release to enhance gait efficiency. Real-time gait phase recognition is achieved using an IMU and rotary encoder, and a control algorithm modulates joint stiffness accordingly. A multi-degree-of-freedom dynamic model and modal analysis were conducted to define feasible stiffness and damping parameters. The system was evaluated through MATLAB-based simulations, simulator experiments, and level-ground walking trials with an amputee. Results demonstrated that the prosthesis effectively reduced knee buckling during heel strike, supported smooth gait transitions, and ensured stable performance under prolonged use. The proposed design achieves reliable and energy-efficient control with a lightweight structure, offering a practical solution for adaptive prosthetic knee systems.