Development of an Integrated Powered Hip and Microprocessor-Controlled Knee for a Hip–Knee–Ankle–Foot Prosthesis

Abstract

Hip–knee–ankle–foot prostheses (HKAF) are full lower-limb devices for people with hip amputations that enable individuals to regain their mobility and move freely within their chosen environment. HKAFs typically have high rejection rates among users, as well as gait asymmetry, increased trunk anterior–posterior lean, and increased pelvic tilt. A novel integrated hip–knee (IHK) unit was designed and evaluated to address the limitations of existing solutions. This IHK combines powered hip and microprocessor-controlled knee joints into one structure, with shared electronics, sensors, and batteries. The unit is also adjustable to user leg length and alignment. ISO-10328:2016 standard mechanical proof load testing demonstrated acceptable structural safety and rigidity. Successful functional testing involved three able-bodied participants walking with the IHK in a hip prosthesis simulator. Hip, knee, and pelvic tilt angles were recorded and stride parameters were analyzed from video recordings. Participants were able to walk independently using the IHK and data showed that participants used different walking strategies. Future development of the thigh unit should include completion of a synergistic gait control system, improved battery-holding mechanism, and amputee user testing.