A Semi-Powered Ankle Prosthesis and Unified Controller for Level and Sloped Walking
نویسندگان
چکیده
منابع مشابه
Mechanics and energetics of level walking with powered ankle exoskeletons.
Robotic lower limb exoskeletons that can alter joint mechanical power output are novel tools for studying the relationship between the mechanics and energetics of human locomotion. We built pneumatically powered ankle exoskeletons controlled by the user's own soleus electromyography (i.e. proportional myoelectric control) to determine whether mechanical assistance at the ankle joint could reduc...
متن کاملImpedance and Admittance Controller for a Multi-axis Powered Ankle-foot Prosthesis
This paper introduces a finite state machine to select between impedance and admittance control for a powered anklefoot prosthesis controllable in both Dorsiflexion-Plantarflexion (DP) and Inversion-Eversion (IE). Strain gauges are installed on the prosthesis’ foot to measure the strain caused by ground reaction forces, which are correlated to the external torques in DP and IE. The external tor...
متن کاملPowered ankle-foot prosthesis to assist level-ground and stair-descent gaits
The human ankle varies impedance and delivers net positive work during the stance period of walking. In contrast, commercially available ankle-foot prostheses are passive during stance, causing many clinical problems for transtibial amputees, including non-symmetric gait patterns, higher gait metabolism, and poorer shock absorption. In this investigation, we develop and evaluate a myoelectric-d...
متن کاملActive control of a powered ankle-foot prosthesis
Amputees suffer a higher metabolic demand on their bodies. Passive prostheses seek to reduce this deficit through elastic distribution of the energy inherently dissipated in walking. Yet with no capacity to generate torque they lack truly biomimetic function. The active prosthesis is a solution to this and opens up a world of active control in the timing and magnitude of energy return. Being ab...
متن کاملEvaluation of a Viscoelastic Ankle-Foot Prosthesis at Slow and Normal Walking Speeds on an Able-Bodied Subject
Objectives: This paper describes further improvement and preliminarily evaluation of a novel viscoelastic ankle-foot prosthesis prototype. The objective was to control the ankle hysteresis at slow and normal walking speeds. Methods: Inspired by the ankle biomechanics, in which the hysteresis differs based on the gait speeds, a manually damping control mechanism imbedded in the prosthesis for...
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ژورنال
عنوان ژورنال: IEEE Transactions on Neural Systems and Rehabilitation Engineering
سال: 2021
ISSN: 1534-4320,1558-0210
DOI: 10.1109/tnsre.2021.3049194