Technology Efficacy in Active Prosthetic Knees for Transfemoral Amputees: A Quantitative Evaluation

Table 7

Detailed average calculations for different knee parameters versus actuators.

Actuator (A)	Knee angle				Knee torque			Knee power
	𝜃max.stance	𝜃min.stance	𝜃max.swing	𝜃min.swing	𝑇max.stanceflex.	𝑇min.stanceext.	𝑇Area	𝑃max.propulsion	𝑃max.swing
A1e	(0.5𝜃^𝑛) [5]	(0.5𝜃^𝑛) [5]	(0.95𝜃^𝑛) [5]	(0.95𝜃^𝑛) [5]	(5𝑇^𝑛) [5]	(0.75𝑇^𝑛) [5]	(0.2𝑇^𝑛) [5]	(0.44𝑃^𝑛) [5]	(0.12𝑃^𝑛) [5]
A1b	(0.9𝜃^𝑛) [42]	(1.5𝜃^𝑛) [42]	(1.13𝜃^𝑛) [42]	(2𝜃^𝑛) [42]	(8.75𝑇^𝑛) [42]	(1.8𝑇^𝑛) [42]	(1.95𝑇^𝑛) [42]	NV	NV
			(0.93𝜃^𝑛) [31]
A1s	(0.9𝜃^𝑛) [31],; (0.9𝜃^𝑛) [35],	(4𝜃^𝑛) [31]; (3.5𝜃^𝑛) [35]	(1.13𝜃^𝑛) [35]; (𝜃^𝑛) [36]	(2𝜃^𝑛) [31],; (6𝜃^𝑛) [35]	(1.75𝑇^𝑛) [35],; (17.75𝑇^𝑛) [36]	(0.35𝑇^𝑛) [35]; (1.02𝑇^𝑛) [36]	(1.15𝑇^𝑛) [35]; (0.51𝑇^𝑛) [36]	(1.15𝑃^𝑛) [35]; (2.1𝑃^𝑛) [36]	(0.23𝑃^𝑛) [35], (0.23𝑃^𝑛) [36]
Average	0.9𝜃^𝑛	3.75𝜃^𝑛	1.02𝜃^𝑛	4𝜃^𝑛	9.75𝑇^𝑛	0.69𝑇^𝑛	0.83𝑇^𝑛	1.63𝑃^𝑛	0.23𝑃^𝑛
A2s	NV	NV	(1.15𝜃^𝑛) [41]	NV	NV	NV	NV	NV	NV
A2v	(0.35𝜃^𝑛) [34]	(0.5𝜃^𝑛) [34]	(0.98𝜃^𝑛) [34]	(6𝜃^𝑛) [34]	(2.5𝑇^𝑛) [34]	(1.4𝑇^𝑛) [34]	(0.12𝑇^𝑛) [34]	(1.1𝑃^𝑛) [34]	(0.135𝑃^𝑛) [34]
A3	(0.35𝜃^𝑛) [37]	NV	(0.9𝜃^𝑛) [37]	(2𝜃^𝑛) [37]	NV	NV	NV	NV	NV

A1e: electric motor with series elastic springs, A1b: brushless motor, A1s: motor connected to ball screw, A2s: pneumatic cylinder controlled by stepper motor, A2v: pneumatic cylinder controlled by servovalve, and A3: magnetorheological actuator.