Active control of a powered ankle-foot prosthesis

Active 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...

System for powered ankle-foot prosthesis with active control of dorsiflexion-plantarflexion and inversion-eversion

Control of a powered ankle-foot prosthesis based on a neuromuscular model.

Control schemes for powered ankle-foot prostheses rely upon fixed torque-ankle state relationships obtained from measurements of intact humans walking at target speeds and across known terrains. Although effective at their intended gait speed and terrain, these controllers do not allow for adaptation to environmental disturbances such as speed transients and terrain variation. Here we present a...

Control of a Powered Ankle-foot Prosthesis: from Perception to Impedance Modulation

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Optimization of Ankle-Foot Prosthesis with Active Alignment by Passive Elements

Today, often ankle’s active prosthesis is used for transtibial amputated people’s walking, because these prostheses have some advantages such as increasing power and decreasing metabolism. In most of active prosthesis in order to create a movement or increase the force at the push-off, electrical actuators are used like a motor. In cases where a higher-power motor is necessary, the capacity, we...