A Powered Prosthetic Ankle Designed for Task Variability - A Concept Validation

被引：0

作者：

Upadhye, Sameer ^{[1
]}

Shah, Chinmay ^{[1
]}

Liu, Ming ^{[2
]}

Buckner, Gregory ^{[1
]}

Huang, He ^{[2
]}

机构：

[1] North Carolina State Univ, Dept Mech & Aerosp Engn, Raleigh, NC 27695 USA

[2] Univ N Carolina, North Carolina State Univ, Joint Dept Biomed Engn, Chapel Hill, NC USA

来源：

2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2021年

基金：

美国国家科学基金会;

关键词：

QUALITY-OF-LIFE; FOOT PROSTHESIS; AMPUTATION; DESCENT; YOUNG; GAIT; KNEE; HIP;

D O I：

10.1109/IROS51168.2021.9636324

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Ankle joints play key roles in everyday locomotion, such as walking, stair climbing, and sit-to-stand. Despite the achievement in designing powered prosthetic ankles, engineers still face challenges to duplicate the full mechanics of ankle joints, including high torque, large range of motion (ROM), low profile, backdrivability, and efficiency, using electric motors and related transmissions. In this study, our goal was to develop a new active prosthetic ankle, Variable Spring embedded Motor-ball screw (VSeM) ankle, to meet all these requirements at the same time. Using a manually adjustable elastic element, which is parallel with our motor actuator, we can readjust the ROM of VSeM to handle all normal locomotion tasks. VSeM's capability to mimic human ankle was validated through both bench tests and human subject tests.

引用

页码：6153 / 6158

页数：6

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