Toggle-type robotic knee prosthesis with swing-phase control considering prosthetic leg-length

In recent years, the number of amputations has been increasing due to complications related to terminal circulation and diabetes, the microprocessor-controlled knee can significantly improve mobility for elderly individual with lower extremity amputations, which has attracted attention. While recent electronically controlled knee joints can detect and prevent stumbling and bending of the knee, there is concern that the increase in total length of knee joints accompanying such multifunctionality limits the prescription of MPK due to insufficient stump height. In this study, we developed a compact microprocessor controlled prosthetic knee joint that can stop the knee axis during the swing phase at an arbitrary timing by using the pushing force of a toggle mechanism as the braking force of a load brake. Finally, we conducted the actual walking experiments, applying the conventional product and the proposed device to a thigh amputee and demonstrated their effectiveness in securing toe clearance by comparing their walking conditions.