A Compact, Lightweight Robotic Ankle-Foot Prosthesis: Featuring a Powered Polycentric Design
نویسندگان
چکیده
منابع مشابه
Active control of a powered ankle-foot prosthesis
Amputees suffer a higher metabolic demand on their bodies. Passive prostheses seek to reduce this deficit through elastic distribution of the energy inherently dissipated in walking. Yet with no capacity to generate torque they lack truly biomimetic function. The active prosthesis is a solution to this and opens up a world of active control in the timing and magnitude of energy return. Being ab...
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Lower-limb prostheses are designed based on observations of how users on average respond to different design features. Prostheses are then marketed on the basis that certain features are appropriate for certain types of individuals, with few options for user customization. This process is unlikely to provide individual users with devices that best suit their needs since it is unclear how to bes...
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Control schemes for powered ankle-foot prostheses rely upon fixed torque-ankle state relationships obtained from measurements of intact humans walking at target speeds and across known terrains. Although effective at their intended gait speed and terrain, these controllers do not allow for adaptation to environmental disturbances such as speed transients and terrain variation. Here we present a...
متن کاملDynamic Modeling of a 2-dof Cable Driven Powered Ankle-foot Prosthesis
The first step to study and develop a two Degrees of Freedom (DOF) prosthesis is to derive a dynamic model for simulation and control design. In this paper, the ankle-foot prosthesis has controllable Dorsi-Plantarflexion (DP) and Inversion-Eversion (IE) DOF. We derive a compliant dynamic model for a recently developed ankle-foot prosthesis followed by identification of the actuators, transmissi...
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Almost all of the transtibial prostheses that are available on the market are purely passive devices. These prostheses store (potential) energy in an elastic element during the controlled dorsiflexion phase of stance and release it right after in order to move the body forward. As a result of this, only the energy which has been stored can be used for push-off and thus for propulsion. There exi...
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ژورنال
عنوان ژورنال: IEEE Robotics & Automation Magazine
سال: 2020
ISSN: 1070-9932,1558-223X
DOI: 10.1109/mra.2019.2955740