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

Passive Ankle-Foot Prosthesis Prototype with Extended Push-Off

Current commercially available prosthetic feet have succeeded in decreasing the metabolic cost and increasing the speed of walking compared to walking with conventional, mostly solid prosthetic feet. However, there is still a large discrepancy when compared with a non‐disabled gait, and the walking pattern remains strongly disturbed. During the stance phase of the leg, t...

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

Ankle-knee prosthesis with active ankle and energy transfer: Development of the CYBERLEGs Alpha-Prosthesis

This paper presents the development of the CYBERLEGs Alpha-Prototype prosthesis, a new transfemoral prosthesis incorporating a new variable stiffness ankle actuator based on the MACCEPA architecture, a passive knee with two locking mechanisms, and an energy transfer mechanism that harvests negative work from the knee and delivers it to the ankle to assist pushoff. The CYBERLEGs Alpha-Prosthesis...

Anthropomorphic Robotic Ankle-foot Prosthesis with Active Dorsiflexion- Plantarflexion and Inversion-eversion

A Novel Design Approach and Operational Strategy for an Active Ankle-Foot Prosthesis

1 Introduction In order to enable lower limb amputees to regain natural and versatile walking patterns, the development of active ankle-foot prostheses is required. During locomotion, above-knee amputees show a lower walking speed for keeping the energy effort in the range of non-amputee walking [2]. To avoid this, prostheses with adaptable characteristics and the possibility to store and reuse...