A Universal Ankle–Foot Prosthesis Emulator for Human Locomotion Experiments

Caputo, Joshua M.; Collins, Steven H.

doi:10.1115/1.4026225

Cited by 125 publications

(99 citation statements)

References 65 publications

(91 reference statements)

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“…Further, because previous research has shown that the ankle accounts for 46-89% of the external power required for level-ground walking (Winter, 1983;Farris and Sawicki, 2012 ), understanding the correlations between metabolic and mechanical power is important for design, development, and control of robust biomimetic assistive devices such as leg prostheses and orthoses (Ferris et al, 2007). Previous studies suggest that prosthetic ankle power plays an important role in reducing metabolic demands during level-ground walking (Herr and Grabowski, 2012;Caputo and Collins, 2014 ).…”

Section: Introductionmentioning

confidence: 99%

The correlation between metabolic and individual leg mechanical power during walking at different slopes and velocities

Jeffers

Auyang

Grabowski

2015

Journal of Biomechanics

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During level-ground walking, mechanical work from each leg is required to redirect and accelerate the center of mass. Previous studies show a linear correlation between net metabolic power and the rate of step-to-step transition work during level-ground walking with changing step lengths. However, correlations between metabolic power and individual leg power during step-to-step transitions while walking on uphill/downhill slopes and at different velocities are not known. This basic understanding of these relationships between metabolic demands and biomechanical tasks can provide important information for design and control of biomimetic assistive devices such as leg prostheses and orthoses. Thus, we compared changes in metabolic power and mechanical power during step-to-step transitions while 19 subjects walked at seven slopes (0°, +/−3°, +/−6°, and +/−9°) and three velocities (1.00, 1.25, and 1.50 m/s). A quadratic model explained more of the variance (R 2 =0.58-0.61) than a linear model (R 2 =0.37-0.52) between metabolic power and individual leg mechanical power during step-to-step transitions across all velocities. A quadratic model explained more of the variance (R 2 =0.57-0.76) than a linear model (R 2 =0.52-0.59) between metabolic power and individual leg mechanical power during step-to-step transitions at each velocity for all slopes, and explained more of the variance (R 2 =0.12-0.54) than a linear model (R 2 =0.07-0.49) at each slope for all velocities. Our results suggest that it is important to consider the mechanical function of each leg in the design of biomimetic assistive devices aimed at reducing metabolic costs when walking at different slopes and velocities.

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Section: Introductionmentioning

confidence: 99%

The correlation between metabolic and individual leg mechanical power during walking at different slopes and velocities

Jeffers

Auyang

Grabowski

2015

Journal of Biomechanics

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“…Adaption along the longitudinal axis is lacking in this design. [19]. This foot prosthesis was developed by Carnegie Mellon University, Pittsburgh, USA (Figure 10(c)).…”

Section: 9mentioning

confidence: 99%

“…1.61 kW AC servo motor is used to control the arch angle of the prosthesis to maintain the stability. In this design while the prosthesis is at heel strike [17,18], (c) universal prosthesis emulator [19], and (d) parallel four-bar linkage humanoid robot [20]. phase, passive heel spring bends and stores energy and pulley rotates to cause tension to the chain which is connected to passive heel to the other end.…”

Section: 9mentioning

confidence: 99%

“…Foot amputees' lives can be uplifted and made comfortable and more productive to the society by developing advanced, reliable prosthetic solutions. Currently, some passive [8][9][10][11][12][13][14][15][16], active [17][18][19], and hybrid [20][21][22][23][24][25][26][27][28][29][30] adaptive foot prostheses have been developed with a focus on different functional requirements and design mechanisms.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive Foot in Lower-Limb Prostheses

Weerakkody

Lalitharatne

Gopura

2017

Journal of Robotics

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The human foot consists of complex sets of joints. The adaptive nature of the human foot enables it to be stable on any uneven surface. It is important to have such adaptive capabilities in the artificial prosthesis to achieve most of the essential movements for lowerlimb amputees. However, many existing lower-limb prostheses lack the adaptive nature. This paper reviews lower-limb adaptive foot prostheses. In order to understand the design concepts of adaptive foot prostheses, the biomechanics of human foot have been explained. Additionally, the requirements and design challenges are investigated and presented. In this review, adaptive foot prostheses are classified according to actuation method. Furthermore, merits and demerits of present-day adaptive foot prostheses are presented based on the hardware construction. The hardware configurations of recent adaptive foot prostheses are analyzed and compared. At the end, potential future developments are highlighted.

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“…At Carnegie Mellon University, Pittsburgh (United States), Caputo and Collins [34,35] developed an experimental, tethered prosthesis testbed able to provide powered push-off work to subjects walking on a treadmill to conduct Figure 4: Characteristics of the human ankle joint: ankle power versus percentage of stride and torque-angle characteristics of one step. From initial contact (IC) to mid stance (MS) the power curve is mainly negative, while during push-off a large positive power peak is required.…”

Section: Stiff Actuationmentioning

confidence: 99%

Advances in Propulsive Bionic Feet and Their Actuation Principles

Cherelle

Mathijssen

Wang

et al. 2014

Advances in Mechanical Engineering

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In the past decades, researchers have deeply studied pathological and nonpathological gait to understand the human ankle function during walking. These efforts resulted in the development of new lower limb prosthetic devices aiming at raising the 3C-level (control, comfort, and cosmetics) of amputees. Thanks to the technological advances in engineering and mechatronics, challenges in the field of prosthetics have become an important source of interest for roboticists. Currently, most of the bionic feet are still on a research level but show promising results and a preview of tomorrow's commercial prosthetic devices. In this paper, the authors present the current state-of-the-art and the latest advances in propulsive bionic feet with its actuation principles. The context of this review study is outlined followed by a brief description of the basics in human biomechanics and criteria for new prosthetic designs. A new categorization based on the actuation principle of propulsive ankle-foot prostheses is proposed. Based on simulations, the general principles and benefits of each actuation method are explained. The corresponding latest advances in propulsive bionic feet are presented together with their main characteristics and scientific outcomes. The authors also propose to the reader a comparison analysis of the presented devices with a discussion of the general tendencies in new prosthetic feet.

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A Universal Ankle–Foot Prosthesis Emulator for Human Locomotion Experiments

Cited by 125 publications

References 65 publications

The correlation between metabolic and individual leg mechanical power during walking at different slopes and velocities

The correlation between metabolic and individual leg mechanical power during walking at different slopes and velocities

Adaptive Foot in Lower-Limb Prostheses

Advances in Propulsive Bionic Feet and Their Actuation Principles

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