Design, development, and bench-top testing of a powered polycentric ankle prosthesis

Marco Cempini, Levi J. Hargrove, Tommaso Lenzi*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

18 Scopus citations

Abstract

Powered ankle-foot prostheses must provide high power and torque while satisfying stringent size and weight requirements. Previous works have focused on improving the prosthesis torque/weight ratio with novel actuation systems such as series and parallel elastic actuators, clutchable leverages, and pneumatic artificial muscles. In this paper, we propose an alternative design approach to minimize the prosthesis size and weight, while improving torque generation and electrical efficiency, based on a polycentric kinematic chain. The proposed approach is implemented on a novel powered polycentric ankle prosthesis (p2Ankle). Kinematics and mechatronic design are presented together with bench-top testing. Preliminary validation in standing and walking is conducted with an able-bodied user using a bypass orthosis.

Original languageEnglish (US)
Title of host publicationIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1064-1069
Number of pages6
ISBN (Electronic)9781538626825
DOIs
StatePublished - Dec 13 2017
Event2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada
Duration: Sep 24 2017Sep 28 2017

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2017-September
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
CountryCanada
CityVancouver
Period9/24/179/28/17

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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