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: | 16 Feb 2022 01:36 |
| URI: | https://usir.salford.ac.uk/id/eprint/50964 |
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