Review of Recent Progress in Robotic Knee Prosthesis Related Techniques: Structure, Actuation and Control

Abstract As the essential technology of human-robotics interactive wearable devices, robotic knee prosthesis can provide above-knee amputations with functional compensations to realize their physical and psychological social regression. With development mechanical mechatronic science technology, fully active that subjects actuating torques has demonstrated a better wearing performance in slope walking stair ascent when compared passive semi-active ones. Additionally, intelligent control strategies algorithms, effect been greatly enhanced terms stance stability swing mobility. Therefore, help readers obtain an overview recent progress prosthesis, this paper systematically categorized prostheses according integrated functions introduced related research past ten years (2010–2020) regarding (1) design, including uniaxial, four-bar, multi-bar structures, (2) rigid elastic actuation, (3) method, mode identification, motion prediction, automatic control. Quantitative qualitative analysis comparison prosthesis-related techniques are conducted. The trends concluded as follows: bionic lightweight structures performance, actuation energy-saving effect, artificial intelligence-based prosthetic Besides, challenges innovative insights customized joint structure, highly efficient compact personalized daily multi-mode gait adaptation also discussed in-depth facilitate future prosthesis.