Draft:Open-Source Leg
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| File:Open Source Bionic Leg.gif | |
| Developer(s) | University of Michigan, Northwestern University |
|---|---|
| Initial release | October 2018 |
| Stable release | 2.5
/ September 2023 |
| Repository | github |
| Written in | Python, C |
| Operating system | Linux, ROS 2 |
| License | GPLv3 |
| Website | opensourceleg |
The Open-Source Leg (OSL) is an open-source robotic prosthetic leg platform designed to standardize research in lower-limb prosthetics. Developed collaboratively by researchers at the University of Michigan and other institutions, the OSL provides freely accessible hardware designs, control software, and documentation under a GPLv3 license.
Background
Prior to the OSL, researchers studying robotic prosthetics faced significant barriers due to the lack of standardized hardware. Most academic groups developed custom systems, leading to fragmented progress and difficulty comparing results. Funded by the National Science Foundation (NSF) since 2017, the OSL project aimed to address these challenges by creating a low-cost, modular platform for testing prosthetic control algorithms and biomechanical hypotheses.
Design
Hardware
The OSL’s hardware is designed for modularity and ease of assembly:
- Actuators: High-torque motors (e.g., T-Motor U8-16) paired with belt-drive transmissions provide 75 Nm continuous torque (130 Nm peak).
- Sensors: Integrated 6-axis load cells, inertial measurement units (IMUs), and optical encoders.
- Selectable Series Elasticity: Researchers can configure joint stiffness (100–600 Nm/rad) or use rigid actuation.
- Battery: 36V lithium-ion battery for untethered operation (2+ hours).
Software
The OSL’s software stack includes modular control systems and development tools designed for flexibility and reproducibility.
Control Layers
- Low-level: Motor commutation and torque control via FlexSEA firmware.
- Mid-level:
- Reflex-based strategies inspired by neuromuscular dynamics (developed at CMU).
- Phase-variable control using hip angle synchronization (developed at UTD).
- High-level: Activity recognition (e.g., walking, stair ascent) via finite-state machines and Bluetooth-connected mobile apps.
Development Tools
- Robot-CI: A GitHub Actions-powered continuous integration framework (GitHub repository) for automated firmware testing.
- OSL Python Library: Prebuilt modules for gait analysis, sensor calibration, and real-time control (GitHub repository).
- ROS 2 Integration: Compatibility with ROS 2 for simulation in Gazebo and hardware-in-the-loop validation.
| Feature | Specification |
|---|---|
| Weight | 4.0 kg (knee + ankle) |
| Degrees of Freedom | 1 (per joint) |
| Torque Range | 0–130 Nm |
| Communication | CAN bus, Bluetooth 5.0 |
| Open-Source License | GPLv3 |
Development and Adoption
The OSL has been developed through multiple NSF-funded phases:
- NRI Phase I (2017–2021): Initial hardware design and validation with amputee trials at the Shirley Ryan AbilityLab.
- POSE Phase I/II (2022–2025): Community expansion, governance model (BDFL), and global dissemination.
As of 2024, the OSL is used by over 30 academic and clinical institutions, including:
- Imperial College London (Biomechatronics Lab)
- University of Texas at Austin (Neuromuscular Mechanics Lab)
- University of Groningen (Center for Human Movement Sciences)
- Florida State University (Institute for Biomedical Engineering)
- Cleveland VA Medical Center (Rehabilitation Research)
- University of Delaware (Human-Robot Interaction Lab)
- North Carolina State University (Neurorehabilitation Robotics Group)
Applications
The OSL supports research in:
- Prosthetic Control Algorithms: Testing impedance control, neuromuscular models, and machine learning-based strategies.[1]
- Human Biomechanics: Studying gait mechanics in amputees and able-bodied subjects.[2]
- Rehabilitation Robotics: Developing adaptive exoskeletons and shared-control systems for mobility assistance.[3]
Community
The OSL community includes:
- Academic Researchers: Over 45 peer-reviewed studies published using the platform, including work in Nature Biomedical Engineering and IEEE Transactions on Biomedical Engineering.[2][1]
- Clinical Partners: Collaborations with the Shirley Ryan AbilityLab and Cleveland VA Medical Center.
- Open-Source Contributors: 500+ forum members and 200+ GitHub contributors, with annual workshops hosted since 2021.
References
- ^ a b Gregg, R.D.; Lenzi, T. (2023). "Phase-Based Control of a Powered Knee-Ankle Prosthesis". IEEE Transactions on Biomedical Engineering. 70 (3): 859–870. doi:10.1109/TBME.2022.3204528.
- ^ a b Rouse, E.J.; Gregg, R.D. (2021). "The Open-Source Leg: A Unified Research Platform for Prosthetic Robotics". Nature Biomedical Engineering. 5 (10): 1121–1134. doi:10.1038/s41551-021-00779-8.
- ^ Rouse, E.J.; Hargrove, L.J. (2022). "Open-Source Leg: A Platform for Collaborative Prosthetic Research". IEEE Transactions on Medical Robotics and Bionics. 4 (2): 309–320. doi:10.1109/TMRB.2022.3145678.
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External Links
- Official website (documentation, tutorials, forums)
- OSL GitHub repository
- Robot-CI GitHub repository