Biomechanical design of a powered ankle-foot prosthesis

被引：109

作者：

Au, Samuel K. ^{[1
]}

Weber, Jeff ^{[1
]}

Herr, Hugh ^{[1
]}

机构：

[1] MIT, Dept Mech Engn, Cambridge, MA 02139 USA

来源：

2007 IEEE 10TH INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS, VOLS 1 AND 2 | 2007年

关键词：

D O I：

10.1109/ICORR.2007.4428441

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

Although the potential benefits of a powered ankle-foot prosthesis have been well documented, no one has successfully developed and verified that such a prosthesis can improve amputee gait compared to a conventional passive-elastic prosthesis. One of the main hurdles that hinder such a development is the challenge of building an ankle-foot prosthesis that matches the size and weight of the intact ankle, but still provides a sufficiently large instantaneous power output and torque to propel an amputee. In this paper, we present a novel, powered ankle-foot prosthesis that overcomes these design challenges. The prosthesis comprises an unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. With this architecture, the ankle-foot prosthesis matches the size and weight of the human ankle, and is shown to be satisfying the restrictive design specifications dictated by normal human ankle walking biomechanics.

引用

页码：298 / 303

页数：6

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