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. 2019 Oct 27;19(21):4662. doi: 10.3390/s19214662

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© 2019 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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(a) Schematic diagram, (b) structure, (c) actuation mechanism, and (d) CAD model of the GFB prosthetic knee. 1-level arm (fixed on linkage $A B$ ), 2-linkage $A B$ (thigh linkage), 3-linkage $O_{1} A$ (frame), 4-linkage $O_{1} O_{4}$ (shank linkage), 5-linkage $B C$ , 6-linkage $C O_{4}$ (incomplete gear $g_{4}$ centered at hinge $O_{4}$ ), 7-incomplete gear $g_{1}$ (fixed on linkage $O_{1} A$ ), 8-bearing, 9-spring fastening, 10-helical spring, 11-cam roller, 12-guide, 13-transmission gear, 14-coupling, 15-motor cabinet (fixed on frame), 16-motor, 17-guide, 18-transmission gear, 19-bearing chock, 20-bearing, 21-cylindrical conjugate cams (two cam grooves on outer/inner walls of the cylinder), 22-bearing chock, 23-bearing, 24-helical spring, 25-spring fastening, 26-bearing.