Fig. 3: Benchtop experimental results of kinematics and kinetics of the soft knee. | Nature Communications

Fig. 3: Benchtop experimental results of kinematics and kinetics of the soft knee.

From: Bioinspired origami-based soft prosthetic knees

Fig. 3

a Origami knee flexion angle under contraction (left). Data are shown as mean ± std (n = 10). Each data point represents a technically independent replicate. Step response of the knee closed-loop position controller (right). b Origami deploying ICR trajectory mimicry to the biological ICR in the parallel sagittal plane 60 mm lateral from the knee center regarding the 0 to 60 degrees knee flexion (left). Measured trajectories of points A, B, and D compared to the mathematical modeling results of corresponding points (right). c Shock-absorbing test in three directions on the soft and rigid knee joints, respectively. d The knee unit holds a series of weights with different pre-charged pressures. Data are shown as mean ± std (n = 10). Each data point represents a technically independent replicate. e Measured versus calculated results of the output torque of the knee unit.

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