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Biomechanical design of a powered ankle-foot ..

The results from the experiments described in this article show the importance of frontal plane movement during turning. During straight walking, body weight shifts in the frontal plane from side to side. During turning, the body leans to the inside of the turn in the frontal plane. We hypothesized that this movement allows for a more natural gait when walking on inclined planes perpendicular to the direction of motion and also accommodates ankle motions required to walk on rough surfaces. The evidence obtained from the experiments described in this article supports the assertion that a 2-DOF ankle-foot prosthesis capable of impedance modulation in each axis could increase the agility during gait by mimicking true ankle mechanics.

Biomechanical design of a powered ankle-foot prosthesis.

Ideally, a transtibial prosthesis should restore the lost limb functions in supporting the body weight and providing torque/power output for locomotion. Meanwhile, the weight and volumetric profile of the prosthesis should be kept under those of the corresponding limb segments for daily-use comfort and aesthetic reason. As such, the design specifications are primarily determined according to principles in human anatomy and biomechanics of locomotion. Furthermore, for the development of this first prototype, off-the-shelf commercial products are preferred for the choices of major components, with the purpose of reducing the cost and risk in the prosthesis design, fabrication, and testing.

Biomechanical design of a powered ankle-foot prosthesis

“ Powered ankle-foot prosthesis for the improvement of amputee ambulation,” in ..

Presentation Summary : ... higher peaks were seen during the eccentric plantar flexor phase of the ankle prior to foot ... of effective prosthetic ... Biomechanics. Yu, B ...

Caputo, J. M., Collins, S. H. (2011) Externally powered and controlled ankle-foot prosthesis. In: Proceedings of the Conference on Dynamic Walking, Jena, Germany, July 18-21, 2011.

Use of a biomimetic powered ankle-foot prosthesis decreased ..

Effects of a powered ankle-foot prosthesis on kinetic loading of the contralateral ..

Caputo, J. M., Collins, S. H. (2012) An externally powered and controlled ankle-foot prosthesis for use in push-off experiments. In: Proceedings of the annual meeting of the American Society of Biomechanics, Gainesville, Florida, USA, August 15-18, 2012.

Presentation Summary : Management of the Partial Foot Amputee Gait Workshop at Biomechanics ... Partial Foot Gait Ankle moment in ... Method Partial Foot Gait PowerPoint Presentation ...

biomechanical design of powered ankle-foot prosthesis with ..
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Biomechanical design of a powered ankle–foot prosthesis

N2 - The ankle joint of currently available powered prostheses is capable of controlling one degree of freedom (DOF), focusing on improved mobility in the sagittal plane. To increase agility, the requirements of turning in prosthesis design need to be considered. Ankle kinematics and kinetics were studied during sidestep cutting and straight walking. There were no significant differences between the ankle sagittal plane mechanics when comparing sidestep cutting and straight walking; however, significant differences were observed in ankle frontal plane mechanics. During straight walking, the inversion-eversion (IE) angles were smaller than with sidestep cutting. The ankle that initiated the sidestep cutting showed progressively increasing inversion from 2 to 13 degrees while the following contralateral step showed progressively decreasing inversion from 8 to 4 degrees during normal walking speed. The changes in IE kinematics were the most significant during sidestep cutting compared with straight walking. The IE moments of the step that initiated the sidestep cutting were always in eversion, acting as a braking moment opposing the inverting motion. This suggests that an ankle-foot prosthesis with active DOFs in the sagittal and frontal planes will increase the agility of gait for patients with limb loss.

Rehab & Prosthetics - Basic Science - Orthobullets

The ankle joint of currently available powered prostheses is capable of controlling one degree of freedom (DOF), focusing on improved mobility in the sagittal plane. To increase agility, the requirements of turning in prosthesis design need to be considered. Ankle kinematics and kinetics were studied during sidestep cutting and straight walking. There were no significant differences between the ankle sagittal plane mechanics when comparing sidestep cutting and straight walking; however, significant differences were observed in ankle frontal plane mechanics. During straight walking, the inversion-eversion (IE) angles were smaller than with sidestep cutting. The ankle that initiated the sidestep cutting showed progressively increasing inversion from 2 to 13 degrees while the following contralateral step showed progressively decreasing inversion from 8 to 4 degrees during normal walking speed. The changes in IE kinematics were the most significant during sidestep cutting compared with straight walking. The IE moments of the step that initiated the sidestep cutting were always in eversion, acting as a braking moment opposing the inverting motion. This suggests that an ankle-foot prosthesis with active DOFs in the sagittal and frontal planes will increase the agility of gait for patients with limb loss.

Robotic Leg Control with EMG Decoding in an Amputee …

AB - The ankle joint of currently available powered prostheses is capable of controlling one degree of freedom (DOF), focusing on improved mobility in the sagittal plane. To increase agility, the requirements of turning in prosthesis design need to be considered. Ankle kinematics and kinetics were studied during sidestep cutting and straight walking. There were no significant differences between the ankle sagittal plane mechanics when comparing sidestep cutting and straight walking; however, significant differences were observed in ankle frontal plane mechanics. During straight walking, the inversion-eversion (IE) angles were smaller than with sidestep cutting. The ankle that initiated the sidestep cutting showed progressively increasing inversion from 2 to 13 degrees while the following contralateral step showed progressively decreasing inversion from 8 to 4 degrees during normal walking speed. The changes in IE kinematics were the most significant during sidestep cutting compared with straight walking. The IE moments of the step that initiated the sidestep cutting were always in eversion, acting as a braking moment opposing the inverting motion. This suggests that an ankle-foot prosthesis with active DOFs in the sagittal and frontal planes will increase the agility of gait for patients with limb loss.

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