Biomechanical Design of a Powered Ankle-Foot Prosthesis
- 1 June 2007
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- No. 19457898,p. 298-303
- https://doi.org/10.1109/icorr.2007.4428441
Abstract
Although the potential benefits of a powered ankle-foot prosthesis have been well documented, no one has successfully developed and verified that such a prosthesis can improve amputee gait compared to a conventional passive-elastic prosthesis. One of the main hurdles that hinder such a development is the challenge of building an ankle-foot prosthesis that matches the size and weight of the intact ankle, but still provides a sufficiently large instantaneous power output and torque to propel an amputee. In this paper, we present a novel, powered ankle-foot prosthesis that overcomes these design challenges. The prosthesis comprises an unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. With this architecture, the ankle-foot prosthesis matches the size and weight of the human ankle, and is shown to be satisfying the restrictive design specifications dictated by normal human ankle walking biomechanics.Keywords
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