Preliminary design and evaluation of a multi-axis ankle-foot prosthesis
Document Type
Conference Proceeding
Publication Date
9-30-2014
Abstract
The human gait shows significant differences in the ankle movements during turning and sidestep cutting compared to straight walking, especially in frontal plane. This suggests that the next advancement in lower extremity assistive devices is to extend their design and control to the frontal plane. In this paper, the concept of a multi-axis powered anklefoot prosthesis is introduced and its feasibility is shown by a proof of concept prototype of a cable-driven, multi-axis anklefoot prosthesis. The design kinematics and its ankle joint's mechanical impedance in non-load bearing conditions are evaluated and discussed. It is shown that the developed prototype is capable of closely mimicking the ankle movements in both sagittal and frontal planes during turning and walking on straight path with passive mechanical impedance in sagittal and frontal planes comparable to the ones of the human ankle.
Publication Title
Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Recommended Citation
Ficanha, E.,
&
Rastgaar, M.
(2014).
Preliminary design and evaluation of a multi-axis ankle-foot prosthesis.
Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, 1033-1038.
http://doi.org/10.1109/biorob.2014.6913916
Retrieved from: https://digitalcommons.mtu.edu/michigantech-p/10347