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|  |
| Open-Source Leg | |
|---|---|
| Developer(s) | University of Michigan Neurobionics Lab (PI: Elliott J. Rouse) |
| Initial release | August 2019 |
| Stable release | 2.5
/ July 2024 |
| 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 developed for research in powered lower-limb prosthetics. The project provides standardized hardware, control software, and documentation under the GPLv3. It has been adopted by laboratories internationally for research in prosthetic control, human biomechanics, and rehabilitation robotics.[1][2][3]
History
editThe Open-Source Leg project was initiated in 2017 with support from the National Science Foundation (NSF) through the National Robotics Initiative (Grant No. 1734586).[4] Development began at the University of Michigan Neurobionics Lab under principal investigator Elliott J. Rouse, with early clinical testing conducted at the Shirley Ryan AbilityLab in Chicago.[3] A 2018 article in RoboHub profiled the effort as one of the first attempts to create a shared open platform for lower-limb prosthetics research.[5]
In 2018, the design and characterization of the OSL were presented at the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BIOROB 2018).[6] In 2019, the first public release of the leg included open access to CAD models, parts lists, and assembly instructions.[3] In 2020, researchers reported the first clinical implementation of the system in Nature Biomedical Engineering.[7]
Subsequent NSF funding supported further development: award #2024237 (2020) enabled multi-institutional research, and the POSE Phase I and II grants (#2229418, 2022–2024) expanded community governance, documentation, and dissemination.[8][2] To improve access, a partnership with Humotech was announced in 2021, allowing research labs to purchase assembled OSL hardware through a commercial distributor.[9] By 2025, the platform was in use by more than 30 academic and clinical groups worldwide.[10]
Design
editHardware
editThe OSL includes actuated knee and ankle joints in a modular architecture that allows researchers to test diverse control strategies. Its features include:[1]
- High-torque drone-derived motors with belt-drive transmissions (continuous torque ~75 Nm, peak 130 Nm).
- Integrated load cells, inertial measurement units (IMUs), and optical encoders.
- Configurable series elasticity (100–600 Nm/rad) or rigid actuation.
- A lithium-ion battery enabling untethered operation for over two hours.
The project has also released auxiliary open hardware, including a six-channel data acquisition (DAQ) board designed for high-resolution load cell measurements.[11]
Software
editThe software stack provides firmware, mid-level controllers, and integration with external tools:
- Low-level control: Motor commutation and torque control via FlexSEA firmware.
- Mid-level control: Phase-variable and reflex-inspired strategies, developed in collaboration with Carnegie Mellon University and the University of Texas at Dallas.[12]
- Research tools: Python libraries for gait analysis, Robot-CI (a continuous integration system for automated testing), and compatibility with ROS 2 for simulation and hardware-in-the-loop testing.
Applications
editThe OSL has been employed in multiple research domains, including:[13]
- Prosthetic control algorithms such as impedance control, neuromuscular models, and machine-learning–based approaches.
- Human biomechanics and gait analysis for both amputee and able-bodied participants.
- Rehabilitation robotics and exoskeleton development.
Community and Adoption
editBy 2024 the OSL was in use at more than 30 academic and clinical institutions, including Imperial College London, University of Groningen, Florida State University, University of Texas at Austin, and the Cleveland VA Medical Center.[10] Peer-reviewed publications using the platform have appeared in journals such as Nature Biomedical Engineering and IEEE Transactions on Biomedical Engineering.[1][12] The project maintains an online forum and open repositories to coordinate development, and its outreach efforts have been highlighted by the University of Michigan Robotics Institute.[2]
See also
editReferences
edit- ^ a b c 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 (inactive 27 August 2025).
{{cite journal}}: CS1 maint: DOI inactive as of August 2025 (link) - ^ a b c Newman, Dan (2024-07-10). "Building an ecosystem for the Open-Source Leg". University of Michigan Robotics. Retrieved 27 August 2025.
- ^ a b c "Open-source Bionic Leg: First-of-its-kind Platform Aims to Rapidly Advance Prosthetics". Shirley Ryan AbilityLab. 2019-06-05. Retrieved 27 August 2025.
- ^ "NRI: An Open-Source Robotic Leg Platform that Lowers the Barrier for Advanced Prosthetics Research". NIH IRAD. Retrieved 27 August 2025.
- ^ Audrow Nash (2018-01-06). "Open Source Prosthetic Leg with Elliott Rouse". RoboHub. Retrieved 27 August 2025.
- ^ Azocar, Alejandro F. (2018). Design and Characterization of an Open-Source Robotic Leg Prosthesis. IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics. pp. 111–118. doi:10.1109/BIOROB.2018.8488057.
- ^ Azocar, Alejandro F. (2020). "Design and clinical implementation of an open-source bionic leg". Nature Biomedical Engineering. 4 (10): 941–953. doi:10.1038/s41551-020-00619-3. PMC 7581510. PMID 33020601.
- ^ "NSF Award 2024237 – Collaborative Research: Open-Source Robotic Leg for Advanced Prosthetics". NSF.gov. Retrieved 27 August 2025.
- ^ "U-M, Humotech partner to bring open-source bionic leg to research labs". Humotech. 2021-12-16. Retrieved 27 August 2025.
- ^ a b "Open-Source Leg Brings Collaborative Robotics to Research Labs". Economy Chosun. 2025-04-25. Retrieved 27 August 2025.
- ^ "OSL Electronics: Data Acquisition Board – 2025-438". University of Michigan Tech Transfer. Retrieved 27 August 2025.
- ^ 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 (inactive 27 August 2025).
{{cite journal}}: CS1 maint: DOI inactive as of August 2025 (link) - ^ 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 (inactive 27 August 2025).
{{cite journal}}: CS1 maint: DOI inactive as of August 2025 (link)
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