Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 24, Issue 4, Pages 1532-1540Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2019.2918685
Keywords
Amputation; ankle; biomechanics; control; design; prostheses
Categories
Funding
- National Science Foundation Graduate Research Fellowship Program [1445197]
Ask authors/readers for more resources
This paper describes the design, control, and preliminary assessment of a novel microprocessor-controlled multifunction ankle prosthesis that provides three microprocessor-controlled behaviors-a selectable stiffness equilibrium angle, lockable conformal damping, and swing-phase repositioning. Following a description of the motivation for providing these behaviors, the authors provide a detailed description of the device and walking controller design. This device utilizes a power-asymmetric linear actuator to provide the desired functionality in a compact and lightweight package through a combination of both hydraulic and electromechanical actuation approaches. The device is controlled for level ground walking via a finite-state machine. The functionality of the prosthesis is demonstrated by a set of benchtop experiments that characterize the ability of the prosthesis to provide the three desired behaviors and by an experiment in which the prosthesis was worn by a transtibial amputee during walking. Both sets of experiments indicate that the prosthesis provides the functionality for which it was designed.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available