Design, Simulation and Kinematic Verification of a Multi-Loop Ankle-Foot Prosthetic Mechanism

被引:2
作者
Song, Majun [1 ]
Chen, Weihai [1 ]
Guo, Sheng [2 ]
Li, Zhongyi [1 ]
Rasmussen, John [3 ]
Bai, Shaoping [3 ]
机构
[1] Beihang Univ, Hangzhou Innovat Inst, Hangzhou 310051, Peoples R China
[2] Beijing Jiaotong Univ, Sch Mech Elect & Control Engn, Beijing 100044, Peoples R China
[3] Aalborg Univ, Dept Mat & Prod, DK-9220 Aalborg, Denmark
基金
中国国家自然科学基金;
关键词
Index Terms-Human-centered robotics; mechanism design; modeling and simulating humans; prosthetics and exoskeletons; wearable robotics; WALKING; TORQUE;
D O I
10.1109/LRA.2023.3300255
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
Inspired by the bionic characteristics of ankle and calf skeletal muscles, a novel ankle-foot prosthesis (AFP) with variable stiffness mechanisms (VSMs) is proposed to assist transtibial amputees to restore ankle plantarflexion-dorsiflexion. The prosthesis is designed in the form of a spring-loaded three-loop linkage for function of continuous energy absorption-release in gait stance phase, which can facilitate ankle plantarflexion- dorsiflexion and keep human body move forward steadily. A compliant crank slider mechanism is also developed to power-assist AFP mechanism to improve the adaptive compliant contact between prosthesis and ground. In this letter, mechanics models of the ATP are developed to reveal the variable moment of the ankle joint, which is verified by human-machine simulation. An AFP prototype is built to validate the design experimentally. The results demonstrate that the AFP mechanism has the advantages of low power consumption, human-like joint moment profile. In particular, it is shown that the AFP mechanism with 54 W power provided in toe-off phase can reduce the peak power of the motor by 24%.
引用
收藏
页码:5767 / 5774
页数:8
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