Effects of toe stiffness on ankle kinetics in a robotic transtibial prosthesis during level-ground walking

Zhu, Jinying; Wang, Qining; Wang, Long

doi:10.1016/j.mechatronics.2014.06.005

Cited by 20 publications

(14 citation statements)

References 25 publications

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“…The methods for calculating the push-off power varied between publications (Table 1): 13 publications reported to have made a rigid foot segment (RFS) assumption; three [32,38,39] used the UD model (UD) and the method in five publications is described as segmentally-agnostic (SA) [40]. Additionally, four studies [24,34,36,41] determined push-off power directly from parameters given by the powered device or applied individual calculations (other) and three studies [30,35,42] did not specify details of push-off power calculations.…”

Section: Resultsmentioning

confidence: 99%

Prosthetic push-off power in trans-tibial amputee level ground walking: A systematic review

et al. 2019

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ObjectiveUnilateral trans-tibial amputation signifies a challenge to locomotion. Prosthetic ankle-foot units are developed to mimic the missing biological system which adapts push-off power to walking speed in some new prosthetic ankle-foot designs. The first systematic review including the two factors aims to investigate push-off power differences among Solid Ankle Cushion Heel (SACH), Energy Storage And Return (ESAR) and Powered ankle-foot units (PWR) and their relation to walking speed. Data sourcesA literature search was undertaken in the Web of Science, PubMed, IEEE xplore, and Google Scholar databases. The search term included: ampu* AND prosth* AND ankle-power AND push-off AND walking. Study appraisal and synthesis methodsStudies were included if they met the following criteria: unilateral trans-tibial amputees, lower limb prosthesis, reported analysis of ankle power during walking. Data extracted from the included studies were clinical population, type of the prosthetic ankle-foot units (SACH, ESAR, PWR), walking speed, and peak ankle power. Linear regression was used to determine whether the push-off power of different prosthetic ankle-foot units varied regarding walking speed. Push-off power of the different prosthetic ankle-foot units were compared using one-way between subjects' ANOVAs with post hoc analysis, separately for slower and faster walking speeds. Results474 publications were retrieved, 28 of which were eligible for inclusion. Correlations between walking speed and peak push-off power were found for ESAR (r = 0.568, p = 0.006) and PWR (r = 0.820, p = 0.000) but not for SACH (r = 0.267, p = 0.522). ESAR and PLOS ONE | https://doi.org/10.1371/journal.pone. Funding:The funders, Klinikum Bayreuth GmbH (https://klinikum-bayreuth.de/) and Ossur hf. (https://www.ossur.com/?select-default-destination=1), provided support in the form of salaries for authors R.M., L.M., R.A. and K.L., but did not have any additional role in the study design, data collection and analysis, decision to publish, or preparation of the manuscript. The specific roles of PWR demonstrated significant differences in push-off power for slower and faster walking speeds (ESAR (p = 0.01) and PWR (p = 0.02)). ConclusionPush-off power can be used as a selection criterion to differentiate ankle-foot units for prosthetic users and their bandwidth of walking speeds.Prosthetic push-off power in trans-tibial amputee walking PLOS ONE | https://doi.org/10.

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Section: Resultsmentioning

confidence: 99%

Prosthetic push-off power in trans-tibial amputee level ground walking: A systematic review

et al. 2019

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“…Zhu et al mentioned 17.6% reduction in energy consumption of ankle joint using passive toe joints. 15 The most energy consumption reduction is due to the swing phase of SS which is 10.8%. Also, 4.9% less energy consume in DS as well.…”

Section: Benefits Of Passive Toe Jointmentioning

confidence: 99%

“…5,14 Also, Zhu et al and Sun et al indicated that adding proper passive toe joints could benefit the energy efficiency of ankle joint as well as the stability of the gait. 15,16 Kajita et al developed a running pattern for HRP-2LT equipped with toe springs. 7 Moreover, Kumar et al introduced a hybrid toe joint which is an active toe joint with a spring and a damper mechanism, to reduce the maximum required torque for this joint.…”

Section: Introductionmentioning

confidence: 99%

Adding low-cost passive toe joints to the feet structure of SURENA III humanoid robot

Sadedel¹,

Yousefi‐Koma²,

Khadiv³

et al. 2016

Robotica

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SUMMARYAdding active toe joints to a humanoid robot structure has lots of difficulties such as mounting a small motor and an encoder on the robot feet. Conversely, adding passive toe joints is simple, since it only consists of a spring and a damper. Due to lots of benefits of implementing passive toe joints, mentioned in the literature, the goal of this study is to add passive toe joints to the SURENA III humanoid robot which was designed and fabricated at the Center of Advanced Systems and Technologies (CAST), University of Tehran. To this end, a simple passive toe joint is designed and fabricated, at first. Then, stiffness and damping coefficients are calculated using a vision-based measurement. Afterwards, a gait planning routine for humanoid robots equipped with passive toe joints is implemented. The tip-over stability of the gait is studied, considering the vibration of the passive toe joints in swing phases. The multi-body dynamics of the robot equipped with passive toe joints are presented using the Lagrange approach. Furthermore, system identification routine is adopted to model the dynamic behaviors of the power transmission system. By adding the calculated actuating torques for these two models, the whole dynamic model of the robot is computed. Finally, the performance of the proposed approach is evaluated by several simulations and experimental results. Results show that using passive toe joints reduces energy consumption of ankle and knee joints by 15.3% and 9.0%, respectively. Moreover, with relatively large values of stiffness coefficients, the required torque and power of the knee and hip joints during heel-off motion reduces as the ankle joint torque and power increases.

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“…Three quite new and authentic research papers were presented at the first day of the semester as a kind of 'appetizer' regarding what kind of engineering problems makes use of the dynamics treated in the course. The first paper discusses the optimal control of a half-circular compliant legged monopod [35] and the second studies the effect of toe stiffness on ankle kinetics in a robotic prosthesis [36]. They were both chosen because of a clear IMRD-structure and because they aligned nicely with most of the students building a robot with a specified task in the semester project.…”

Section: Use Of Authentic Research Papersmentioning

confidence: 99%

Students’ Perception of Different Learning Options and Use of Authentic Research Papers in a First Year Engineering Course

Schmidt

2015

Int. J. Eng. Ped.

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Abstract-This case study presents a teaching strategy for an engineering dynamics course using a range of different learning options supporting different learning styles. The teaching strategy was implemented in a blended learning environment by combining traditional lectures with online resources. Additionally, hand-in assignments based on authentic research papers were introduced. Two sets of questionnaires were given to evaluate the students' perception of the different learning options. The study shows that the students found online pencasts very useful as a means to increase the outcome of studying a traditional textbook. The implementation of an electronic audience response system to enhance active learning by peer instruction in combination with traditional lecturing was highly appreciated by the students. The students found it difficult and time consuming to work with real research papers but many students expressed that it was stimulating to see that the theory is used today by practitioners in engineering. Finally, the study indicates that the proposed teaching strategy as estimated by the students leads to increased motivation and engagement in their study.

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Effects of toe stiffness on ankle kinetics in a robotic transtibial prosthesis during level-ground walking

Cited by 20 publications

References 25 publications

Prosthetic push-off power in trans-tibial amputee level ground walking: A systematic review

Prosthetic push-off power in trans-tibial amputee level ground walking: A systematic review

Adding low-cost passive toe joints to the feet structure of SURENA III humanoid robot

Students’ Perception of Different Learning Options and Use of Authentic Research Papers in a First Year Engineering Course

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