The durability and function of three ankle-foot prostheses fabricated using a naturally articulated, fresh cadaveric human bone endoskeleton set in a fiber reinforced rubber shell were studied. Radiographic and force-deflection analyses before and after cyclic dorsiflexion for 5,000, 100,000, and 3 million cycles revealed no structural or functional changes. The endoskeleton foot compared favor...

Abstract Continuous gait phase plays an important role in robotic prosthesis control. In this paper, we have conducted the offline adaptive estimation (at different speeds and on ramps) of continuous transtibial based oscillators. We used capacitive sensing method to record deformation muscles. Two amputees joined study. Based strain signals prosthetic foot residual limb, maximum minimum errors...

The effects of a non-articulated SACH and a multiaxial foot-ankle mechanism on the performance of low-activity users are of great interest for practitioners in amputee rehabilitation. The aim of this study is to compare these two prosthetic feet and assess possible improvements introduced by the increased degrees of freedom provided by the multiaxial foot. For this purpose, a group of 20 hypomo...

Foot drop is the inability to dorsiflex ankle (raise toes) due neuromuscular impairment, and this common condition can cause trips falls. Current treatments for chronic foot provide dorsiflexion support, but they either impede push off or are not suitable all patients. Powered ankle-foot orthosis (AFO) counteract without these drawbacks, heavy bulky have short battery life. To drawbacks of curr...

Sensory attenuation of self-touch, that is, the perceptual reduction self-generated tactile stimuli, is considered a neurocognitive basis for self-other distinction. However, whether this effect can also be found in upper limb amputees using prosthesis unknown. Thirteen participants were asked to touch their foot sole with a) intact hand (self-touch), b) (prosthesis-touch), or c) let it touched...

Figure 1. The bionic prosthesis’ mass of 2.0 kg is equivalent to a biological foot and partial shank of an 80 kg person. The prosthesis includes a carbonfiber in-series leaf spring, unidirectional parallel leaf spring, and heel and forefoot leaf springs that provide elasticity. A series-elastic actuator performs negative and positive work. The actuator is comprised of a 200-Watt DC brushless mo...

Today, commercially available ankle-foot prostheses are completely passive, and consequently, their mechanical properties remain fixed with walking speed and terrain. Conversely, normal human ankle stiffness varies within each gait cycle and also with walking speed [1][2][3]. Furthermore, some studies have indicated that one of the main functions of the human ankle is to provide adequate energy...

Advanced prosthetic foot designs often incorporate mechanisms that adapt to terrain changes in real-time to improve mobility. Early identification of terrain (e.g., cross-slopes) is critical to appropriate adaptation. This study suggests that a simple classifier based on linear discriminant analysis can accurately predict a cross-slope encountered (0°, -15°, 15°) using measurements from the res...