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Design and Validation of a Lightweight, Low-Profile Powered Knee Prosthesis with Quasi-Direct Drive Actuation

arXiv · AI, language, vision and robotics · article · Sep 2, 2026 · UTC

Fully-powered knee prostheses, unlike traditional passive knees, can perform controlled positive work, reducing the need for compensatory behaviors by users during energy-intensive activities. While quasi-direct drive (QDD) actuators provide superior torque control, backdrivability, and acoustic noise properties compared to traditional highly-geared actuators, prior QDD prototypes have been too heavy and bulky for commercial translation. In this work, we present the design and validation of a new lightweight (2.6 kg) and low-profile (24.5 cm tip-to-tip build height) QDD knee prosthesis. By opt

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