{"id":522,"date":"2022-12-17T17:31:03","date_gmt":"2022-12-17T17:31:03","guid":{"rendered":"https:\/\/my.dev.vanderbilt.edu\/goldfarb\/?page_id=522"},"modified":"2022-12-22T18:24:17","modified_gmt":"2022-12-22T18:24:17","slug":"swing-assist-knee","status":"publish","type":"page","link":"https:\/\/my.dev.vanderbilt.edu\/goldfarb\/swing-assist-knee\/","title":{"rendered":"Swing-Assist Knee"},"content":{"rendered":"<p>The swing-assist knee is a variant of the \u201cpowered on passive\u201d approach (see Powered on Passive project description for more background), although rather than provide full stance-knee extension powered capability, power is intended primarily to assist with swing phase. Specifically, the swing-assist knee relies on a passive hydraulic system to provide most stance and swing functionality, and uses power to provide \u201cnon-ballistic\u201d swing phase movements, such as those used during the swing phase of stair ascent, during slow walking, and during stumble recovery.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-525 alignnone\" src=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/SW-schematic.png\" alt=\"SW schematic\" width=\"507\" height=\"255\" srcset=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/SW-schematic.png 507w, https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/SW-schematic-300x151.png 300w\" sizes=\"auto, (max-width: 507px) 100vw, 507px\" \/><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-524 alignnone\" src=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/SA-actuator.jpg\" alt=\"SA actuator\" width=\"647\" height=\"394\" srcset=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/SA-actuator.jpg 772w, https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/SA-actuator-300x183.jpg 300w, https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/SA-actuator-768x468.jpg 768w\" sizes=\"auto, (max-width: 647px) 100vw, 647px\" \/><\/p>\n<p>Schematic (top) and corresponding solid model (bottom) of hybrid actuator, including: (1) a single rod cylinder with lead screw contained within rod; (2) spring-loaded accumulator biased toward extension; (3) rotary spool valve; (4) check valve allows for low-resistance extension; (5) lead screw and gear train driven by (6) a brushless motor.<\/p>\n<hr \/>\n<p><img loading=\"lazy\" decoding=\"async\" class=\" wp-image-654 alignnone\" src=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/SA-actuator-color-and-trans-1024x950.png\" alt=\"SA actuator color and trans\" width=\"506\" height=\"470\" srcset=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/SA-actuator-color-and-trans-1024x950.png 1024w, https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/SA-actuator-color-and-trans-300x278.png 300w, https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/SA-actuator-color-and-trans-768x712.png 768w, https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/SA-actuator-color-and-trans.png 1992w\" sizes=\"auto, (max-width: 506px) 100vw, 506px\" \/><\/p>\n<p>CAD model of swing-assist actuator<\/p>\n<hr \/>\n<p><img loading=\"lazy\" decoding=\"async\" class=\" wp-image-655 alignnone\" src=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/SA-sections-1024x716.jpg\" alt=\"SA sections\" width=\"707\" height=\"494\" srcset=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/SA-sections-1024x716.jpg 1024w, https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/SA-sections-300x210.jpg 300w, https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/SA-sections-768x537.jpg 768w\" sizes=\"auto, (max-width: 707px) 100vw, 707px\" \/><\/p>\n<p>Cross-sections of swing-assist actuator showing sections through: servovalve (left); check valve (middle); and assist drive-system (right).<\/p>\n<hr \/>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-653 alignnone\" src=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/SA-knee-CAD-983x1024.png\" alt=\"SA knee CAD\" width=\"525\" height=\"547\" srcset=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/SA-knee-CAD-983x1024.png 983w, https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/SA-knee-CAD-288x300.png 288w, https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/SA-knee-CAD-768x800.png 768w\" sizes=\"auto, (max-width: 525px) 100vw, 525px\" \/><\/p>\n<p>Swing-assist knee prototype<\/p>\n<hr \/>\n<p><img loading=\"lazy\" decoding=\"async\" class=\" wp-image-668 alignnone\" src=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/SA-board.png\" alt=\"SA board\" width=\"470\" height=\"419\" srcset=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/SA-board.png 607w, https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/SA-board-300x267.png 300w\" sizes=\"auto, (max-width: 470px) 100vw, 470px\" \/><\/p>\n<p>Embedded system for swing-assist knee<\/p>\n<hr \/>\n<div style=\"width: 750px;\" class=\"wp-video\"><!--[if lt IE 9]><script>document.createElement('video');<\/script><![endif]-->\n<video class=\"wp-video-shortcode\" id=\"video-522-1\" width=\"750\" height=\"422\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/SA-early-stumble.mp4?_=1\" \/><a href=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/SA-early-stumble.mp4\">https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/SA-early-stumble.mp4<\/a><\/video><\/div>\n<p>Early-swing stumble response<\/p>\n<hr \/>\n<p>&nbsp;<\/p>\n<div style=\"width: 750px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-522-2\" width=\"750\" height=\"422\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/SA-late-stumble-no-encoding.mp4?_=2\" \/><a href=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/SA-late-stumble-no-encoding.mp4\">https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/SA-late-stumble-no-encoding.mp4<\/a><\/video><\/div>\n<p>Late-swing stumble response<\/p>\n<hr \/>\n<p>&nbsp;<\/p>\n<div style=\"width: 750px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-522-3\" width=\"750\" height=\"422\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/Swing-assist-stair-ascent.mp4?_=3\" \/><a href=\"https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/Swing-assist-stair-ascent.mp4\">https:\/\/cdn-dev.vanderbilt.edu\/t2-my-dev\/wp-content\/uploads\/sites\/2618\/2022\/12\/Swing-assist-stair-ascent.mp4<\/a><\/video><\/div>\n<p>Demonstration of non-ballistic swing in stair ascent (and comparison to a passive MPK).<\/p>\n<hr \/>\n<p>End of page<\/p>\n","protected":false},"excerpt":{"rendered":"<p>The swing-assist knee is a variant of the \u201cpowered on passive\u201d approach (see Powered on Passive project description for more background), although rather than provide full stance-knee extension powered capability, power is intended primarily to assist with swing phase. Specifically, the swing-assist knee relies on a passive hydraulic system to provide most stance and swing&#8230;<\/p>\n","protected":false},"author":6988,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"tags":[],"class_list":["post-522","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/my.dev.vanderbilt.edu\/goldfarb\/wp-json\/wp\/v2\/pages\/522","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/my.dev.vanderbilt.edu\/goldfarb\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/my.dev.vanderbilt.edu\/goldfarb\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/my.dev.vanderbilt.edu\/goldfarb\/wp-json\/wp\/v2\/users\/6988"}],"replies":[{"embeddable":true,"href":"https:\/\/my.dev.vanderbilt.edu\/goldfarb\/wp-json\/wp\/v2\/comments?post=522"}],"version-history":[{"count":12,"href":"https:\/\/my.dev.vanderbilt.edu\/goldfarb\/wp-json\/wp\/v2\/pages\/522\/revisions"}],"predecessor-version":[{"id":667,"href":"https:\/\/my.dev.vanderbilt.edu\/goldfarb\/wp-json\/wp\/v2\/pages\/522\/revisions\/667"}],"wp:attachment":[{"href":"https:\/\/my.dev.vanderbilt.edu\/goldfarb\/wp-json\/wp\/v2\/media?parent=522"}],"wp:term":[{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/my.dev.vanderbilt.edu\/goldfarb\/wp-json\/wp\/v2\/tags?post=522"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}