A low-power ankle-foot prosthesis for push-off enhancement

Abstract Passive ankle-foot prostheses are light-weighted and reliable, but they cannot generate net positive power, which is essential in restoring the natural gait pattern of amputees. Recent robotic addressed problem by actively controlling storage release energy generated during stance phase through mechanical deformation elastic elements housed device. This study proposes an innovative low-power active prosthetic module that fits on off-the-shelf passive energy-storage-and-release (ESAR) prostheses. The placed parallel to ESAR foot, augmenting stored foot return for enhanced push-off. actuation takes advantage amputee’s loading action foot’s structure, retaining its deformation. unit designed additionally deform command total energy. control strategy prosthesis adapts changes user’s cadence conditions at a desired stride phase. An early verification two transtibial amputees treadmill walking showed proposed mechanism could increase subjects’ dorsiflexion peak 15.2% 41.6% subjects 1 2, respectively, about 2%. Moreover, 26% 45% was observed respectively.