Biologically inspired design and development of a variable stiffness powered ankle-foot prosthesis

Dobson, AA, Wei, G ORCID: https://orcid.org/0000-0003-2613-902X and Ren, L 2019, 'Biologically inspired design and development of a variable stiffness powered ankle-foot prosthesis' , Journal of Mechanisms and Robotics, 11 (4) .

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Abstract

Recent advancements in powered lower limb prostheses have appeased several difficulties faced by lower limb amputees by using a Series-Elastic Actuator (SEA) to provide powered sagittal plane flexion. Unfortunately, these devices are currently unable to provide both powered sagittal plane flexion and 2-DOF at the ankle, removing the ankle’s capacity to invert/evert, thus severely limiting terrain adaption capabilities and user comfort. The developed 2-DOF ankle system in this paper allows both powered flexion in the sagittal plane and passive rotation in the frontal plane; a SEA emulates the biomechanics of the gastrocnemius and Achilles tendon for flexion, while a novel universal-joint system provides the 2-DOF. Several studies were undertaken to thoroughly characterize the capabilities of the device. Under both level and sloped-ground conditions, ankle torque and kinematic data was obtained by using force-plates and a motion capture system. The device was found to be fully capable of providing powered sagittal plane motion and torque very close to that of a biological ankle, while simultaneously being able to adapt to sloped terrain by undergoing frontal plane motion, thus providing 2-DOF at the ankle. These findings demonstrate that the device presented in this paper poses radical improvements to powered PAFD design.

Item Type: Article
Schools: Schools > School of Computing, Science and Engineering > Salford Innovation Research Centre
Journal or Publication Title: Journal of Mechanisms and Robotics
Publisher: The American Society of Mechanical Engineers (ASME)
ISSN: 1942-4302
Related URLs:
Depositing User: Dr Guowu Wei
Date Deposited: 04 Apr 2019 09:49
Last Modified: 24 Apr 2020 02:30
URI: http://usir.salford.ac.uk/id/eprint/50964

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