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

Dobson, AA, Wei, G ORCID: and Ren, L 2019, 'Biologically inspired design and development of a variable stiffness powered ankle-foot prosthesis' , Journal of Mechanisms and Robotics, 11 (4) .

PDF - Accepted Version
Download (5MB) | Preview


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: 16 Feb 2022 01:36

Actions (login required)

Edit record (repository staff only) Edit record (repository staff only)


Downloads per month over past year