An Ankle-Foot Prosthesis for Rock Climbing Augmentation

Abstract

This research presents the design and preliminary evaluation of an electromyographically (EMG) controlled 2-degree-of-freedom (DOF) ankle-foot prosthesis designed to enhance rock climbing ability in persons with transtibial amputation. The prosthesis comprises motorized ankle and subtalar joints, and is capable of emulating some key biomechanical behaviors exhibited by the anklefoot complex during rock climbing maneuvers. The free space motion of the device is volitionally controlled via input from EMG surface electrodes embedded in a custom silicone liner worn on the residual limb. The device range of motion is 0.29 radians of each dorsiflexion and plantar flexion, and 0.39 radians each of inversion and eversion. Preliminary evaluation of the device was conducted, validating the system mass of 1292 grams, build height of 250 mm, joint velocity of 2.18 radians/second, settling time of 120 milliseconds, and steady state error of 0.008 radians. Clinical evaluation of the device was performed during a preliminary study with one subject with transtibial amputation. Joint angles of the ankle-foot, knee, and hip were measured during rock climbing with the robotic prosthesis and with a traditional passive prosthesis. We found that the robotic prosthesis increases the range of achieved ankle and subtalar positions compared to a standard passive prosthesis. In addition, maximum knee flexion and hip flexion angles are decreased while climbing with the robotic prosthesis. These results suggest that a lightweight, actuated, 2-DOF EMG-controlled robotic ankle-foot prosthesis can improve ankle and subtalar range of motion and climbing biomechanical function.

A lightweight robotic leg prosthesis replicating the biomechanics of the knee, ankle, and toe joint

“…However, it may also improve clinical outcomes, especially when walking on inclines and rough terrains. Powered emulators ( 76 , 77 ) and prostheses ( 78 , 79 ) with passive or active frontal plane actuation have been developed to study the effectiveness of frontal plane actuation. Future work should consider implementing frontal plane actuation based on the outcome of these studies.…”

The Application of Transcranial Electrical Stimulation in Sports Psychology

“…The concentration of attention training generally has two forms: one is the muzzle training method: the so-called muzzle training refers to the trainer in the usual training by issuing some volume weak, just can barely hear the sound, and let the trainee to complete the task, and such a weak voice muzzle needs athletes to focus on a high degree of attention to complete. Second is the stopwatch training method [ 22 ]. The so-called stopwatch training is to allow athletes to focus on the rotation of the stopwatch, record the time of each attentiveness, in the training time lengthened one by one, until the end of inattention, and then repeat the training in accordance with this time standard.…”

A Cost-Effective Inertial Measurement System for Tracking Movement and Triggering Kinesthetic Feedback in Lower-Limb Prosthesis Users

“…Hardware and enclosure: The developed, low-cost WIbS is comprised of an Arduino Pro Mini microcontroller (Arduino, Somerville, MA, USA), an RN42 Bluetooth module (Microchip Technology, Chandler, AZ, USA) capable of delivering up to three megabits per second of data at distances of up to 20 m, two IMU modules with three rotational degrees of freedom (BOSCH, Gerlingen, Germany), and a lithium-ion battery with a boost converter offering up to four hours of battery life (SparkFun, Niwot, CO, USA) ( Figure 1A). We specifically chose IMUs with three rotational degrees of freedom as this choice will allow application to prosthetic knee or ankle joints in the future that facilitate motion of more than a single degree of freedom (e.g., ankle flexion/extension and inversion/eversion [22,23]). The cost of the described hardware is approximately US $100.…”

“…Due to the modularity of the system, other electronic components with similar or superior specifications could be easily substituted into the system. allow application to prosthetic knee or ankle joints in the future that facilitate motion of more than a single degree of freedom (e.g., ankle flexion/extension and inversion/eversion [22,23]). The cost of the described hardware is approximately US $100.…”