Design, development, and clinical validation of a two degrees of freedom compliant ankle-foot prosthesis based on a 4-4r parallel mechanism

Xiu, H ORCID: https://orcid.org/0000-0002-7821-125X, Han, Y, Wang, X, Zhang, Y, Liang, W, Wei, G ORCID: https://orcid.org/0000-0003-2613-902X, Ren, L and Ren, L 2022, 'Design, development, and clinical validation of a two degrees of freedom compliant ankle-foot prosthesis based on a 4-4r parallel mechanism' , Mechanism and Machine Theory, 172 , p. 104818.

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Abstract

Compared with active prostheses, passive compliant ankle prostheses offer the advantages of reduced energy consumption, a lighter weight, a simple structure, and lower costs. However, although various commercial products are available, these designs do not provide adequate degrees of freedom (DOFs) for movement. This paper presents a compliant passive ankle–foot prosthesis (CPAF) capable of 2-DOF rotation during locomotion. The CPAF uses a 2-DOF parallel mechanism to support the bodyweight and offer limited rotation during movement, and it incorporates a compliant component to facilitate and generate torque to conform to uneven terrains. The kinematics of the parallel mechanism, including the workspace and singularities, were investigated. Then, a prototype was developed, and the performance evaluations showed that sufficient torque could be generated with an appropriate range of motion for the ankle. Concequently, clinical validations were conducted: the dynamic analysis indicated that the CPAF provided good gait movement and generated sufficient ankle torque during level-ground walking, and the metabolic tests demonstrated that the configuration-4 of the compliant component could achieve the best efficiency during walking.

Item Type: Article
Schools: Schools > School of Computing, Science and Engineering
Journal or Publication Title: Mechanism and Machine Theory
Publisher: Elsevier
ISSN: 0094-114X
Related URLs:
Funders: National Key R&D Program of China
Depositing User: USIR Admin
Date Deposited: 29 Mar 2022 13:59
Last Modified: 17 Aug 2022 09:48
URI: https://usir.salford.ac.uk/id/eprint/63526

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