Open Source Powered Prosthetic Leg

With an ever-increasing availability of new technologies, we created an affordable bionic leg that is accessible to everyone.

AdvancedFull instructions provided10 hours1,993

Things used in this project

Hardware components

Raspberry Pi Zero Wireless
Raspberry Pi Zero Wireless
×1
Teensy 4.0 Development Board
Teensy 4.0 Development Board
×1
Yageo Ceramic Capacitor 1500pF
×1
Yageo Resistor 10K Ohm
×6
Yageo Ceramic Capacitor 0.1UF
×3
Texas Instruments Analog Hall Sensor
×3
Pololu 28 AWG Hook Up Wire
×1
Mean Well DC DC Converter
×1
Murata Electronics Ceraamic Capacitor 22UF
×4
ON Semiconductor N-CH MOSFET 20V 750MA
×1
Texas Instruments 16 Bit Digital to Analog Converter
×1
Molex Rectangular Header - Male - 20POS - 1mm
×1
Molex Rectangular Header - Male Pin - 5POS - 1.25mm
×1
EAO - Emergency stop button
×1
McMaster M4 Heat Set Inserts - Pack of 100
×1
McMaster M3 Heat Set Inserts - Pack of 100
×1
McMaster Carr M4 40mm bolts - Pack of 50
×1
McMaster Carr M4 50mm bolts - Pack of 25
×1
McMaster Carr M4 55mm bolts - Pack of 25
×1
McMaster Carr M4 25mm bolts - Pack of 100
×1
McMaster Carr M4 12mm bolts - Button Head - Pack of 25
×1
McMaster Carr M3 70mm bolts - Pack of 25
×1
McMaster Carr M6 16mm bolts - Pack of 25
×1
McMaster Carr M6 20mm bolts - Pack of 25
×1
Hex Nut M6 - Pack of 100
×1
Hex Nut M4 - Pack of 100
×1
High-Load Dry-Running Sleeve Bearing with Steel Shell Bronze-Backed PTFE, for 1" Shaft Diameter
×2
Steel Machinable-Bore Sprocket for ANSI 35 Chain, 10 Teeth, for 3/8" Shaft Diameter
×2
Flat Sprocket for ANSI 35 Chain, 20 Teeth, for 1/2" Shaft Diameter
×2
Roller Chain Single Strand, ANSI Number 35, 3/8" Pitch
×2
Connecting Link for ANSI Number 35 Single Strand Roller Chain
×1
800 CC Onyx Filament Spool
51.2cc needed
×1
Carbon Fiber CFF Spool 50cc
26cc needed
×1
Ultimaker NFC Tough PLA - Black
461g needed
×1
Makita 18V LXT Lithium-Ion Sub-Compact Brushless Cordless 1/2" Driver-Drill Kit (2.0Ah)
×1
Rotary Shaft 303 Stainless Steel, 1/2" Diameter, 12" Long
×1
High-Load Dry-Running Sleeve Bearing with Steel Shell Bronze-Backed PTFE, for 1/2" Shaft Diameter, 1/2" Long
×2
Super-Cushioning Polyurethane Rubber Sheet
×1

Software apps and online services

Arduino IDE
Arduino IDE
Raspbian
Raspberry Pi Raspbian
Teensyduino
Python 2.7
Dassault Systemes SOLIDWORKS
Autodesk Eagle

Hand tools and fabrication machines

Markforged Mark Two
Soldering iron (generic)
Soldering iron (generic)
3D Printer (generic)
3D Printer (generic)
Metric Hex Key Set (Generic)
Hand Drill (generic)
Band Saw (generic)
Metric Tap and Die Set (generic)
Metric Drill Bits (generic)
Dremel Tool (generic)

Story

Read more

Custom parts and enclosures

I Beam Back Half 3D Printing File

stl for back half of housing

I Beam Front Half 3D Printing File

stl for front half of housing

Motor Housing Back Half 3D Printing File

stl for motor housing back half

Top Shaft-Socket 3D Printing File

stl for shaft-socket connector

Ergonomic E-Stop Holder

Optional fitted holder for emergency stop for user to hold during operation

Complete Leg Solidworks Assembly

Assembly of all parts and fasteners for aid in assembly of the device.

E-Stop Holder 3D printing file

stl file to print e-stop holder.

Schematics

Motherboard Schematic

This is the complete schematic for a fully functional motherboard.

GRF Sensor Schematic

This is the complete schematic for an affordable ground reaction force (GRF) sensor. It is used in the closed-loop control of the prosthetic knee

Motherboard Eagle Schematic

This is the full schematic for the motherboard

Motherboard Eagle Board

These are the complete designs for the motherboard. PCB drawings, schematics, and components with dimensions.

GRF Sensor Eagle Schematic

Complete schematic. Download AutoDesk Eagle to open and modify.

GRF Sensor Eagle Board

Complete board with dimensions and components. Download AutoDesk Eagle to open and modify.

Code

Open Source Bionics - Knee Prosthetic

Clone or download from "master" branch for latest stable release. Clone or download from "working" branch for the bleeding edge (might cause errors or contains bugs)

Credits

justinfrancis

justinfrancis

1 project • 2 followers
Check out my website for a (mostly) up-to-date list of projects and activities.
Warren Andelin

Warren Andelin

1 project • 1 follower
Connelly Buchanan

Connelly Buchanan

1 project • 2 followers
Andrew Gunnell

Andrew Gunnell

1 project • 1 follower
Matthew Anderson

Matthew Anderson

1 project • 1 follower
Palani Thangaraj

Palani Thangaraj

0 projects • 0 followers
Tommaso Lenzi

Tommaso Lenzi

1 project • 0 followers

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