Estimation of Ground Reaction Force and Zero Moment Point on a Powered Ankle-Foot Prosthesis

Martinez-Villalpando, Ernesto C.; Herr, Hugh M.; Farrell, Matthew Todd

doi:10.1109/iembs.2007.4353386

Cited by 10 publications

(13 citation statements)

References 61 publications

(60 reference statements)

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“…Sample sizes in the reviewed publications ranged from singlesubject case-study designs [8][9][10][11][12][13][14][15] to 43 subjects. 16 The mean number of subjects across all publications was 8.9 (SD 6.4).…”

Section: Level Of Evidencementioning

confidence: 99%

Motion-analysis studies of transtibial prosthesis users

Rusaw

Ramstrand

2011

Prosthetics &Amp; Orthotics International

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Background: Three-dimensional motion analysis has been used since the beginning of the 1980s to evaluate many aspects of physical function of transtibial amputees. Despite its common use for clinical research, there is large variability in methods of capturing three-dimensional data, description of these methods, reporting of joint kinematics and interpretation of research findings. Objectives: The aim of the following review is to critically examine the specific methodologies used by researchers when collecting three-dimensional kinematic data on transtibial amputees and to provide an overview of the methods used. Study design: Systematic review. Methods: A systematic review of the literature between January 1984 and June 2009 was conducted. A total of 68 papers were identified for review based on the following criteria: experimental research design, collection of three-dimensional kinematic data of lower-extremity joints, and inclusion of transtibial amputees as experimental subjects. Results: A number of methodological shortcomings were identified in the papers reviewed. Conclusions: The authors recommend that future studies more appropriately address the product name and number of prosthetic components used; how the position of reflective markers on the prosthesis is defined; presentation of data from both sound and affected sides; and definition of the neutral position of the ankle when reporting kinematic data. Where possible, the authors recommend use of a control group. Clinical relevanceThis paper has identified numerous sources of discrepancy and potential error in kinematic data collected on trans-tibial amputees. Clinicians and researchers should make themselves aware of these issues when collecting and interpreting gait data.

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Section: Level Of Evidencementioning

confidence: 99%

Motion-analysis studies of transtibial prosthesis users

Rusaw

Ramstrand

2011

Prosthetics &Amp; Orthotics International

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“…56,57 Integrating series elasticity with an actuator enables the potential to store energy. 56 Regarding human walking, muscle fascicles and tendon tissues interact to serve an significant role for the storage and release of elastic energy in a biologically economic manner.…”

Section: -12mentioning

confidence: 99%

“…50 The spatial representation of the prosthesis can provide insight regarding the autonomous usage. 57 Wireless accelerometer applications have been incorporated to quantify amputee gait characteristics. 85,86 A current bionic prosthesis evaluated by Herr and Grabowski incorporates an inertial measurement unit consisting of three accelerometers and three rate gyroscopes.…”

Section: Experimental Sensor Equipment For Evaluating Prosthesis Effimentioning

confidence: 99%

“…The ground reaction force plate quantifies force and moment during the stance phase of gait. 57,67,70 A customary ground reaction force device for measuring gait attributes is produced by AMTI. 57,67,77 The ground reaction force plate and optoelectronic motion capture system can be synchronized to derive power about the ankle during stance phase.…”

Section: Experimental Sensor Equipment For Evaluating Prosthesis Effimentioning

confidence: 99%

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Advances Regarding Powered Prosthesis for Transtibial Amputation

LeMoyne

2015

J. Mech. Med. Biol.

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The necessity for developing advanced prostheses are apparent in light of projections that the forecast for the number of people enduring amputation will double by the year 2050. The transtibial powered prosthesis that enables positive mechanical work about the ankle during the powered plantar flexion aspect of stance phase constitutes a paradigm shift in available transtibial prostheses. The objective of the review is to advocate the state of the art regarding the transtibial powered prosthesis. The historic origins of the prosthesis and motivations for amputation are clarified. The phases of gait and the compensatory mechanisms and asymmetries inherent with passive transtibial prostheses are described. The three general classes of transtibial prosthesis (passive, energy storage and return and powered prostheses) are defined. Subsystems that are integral to the powered prosthesis are explained, such as the series elastic actuator and control architecture. Gait analysis systems and their role for the test and evaluation of energy storage and return and powered prostheses are demonstrated. Future advanced concepts; such as the integration of titin into novel muscle models that account for force enhancement and force depression including their implications for cutting edge bio-inspired actuators are elucidated. The review accounts for the evolution of the prosthetic device with regards to the scope of transtibial amputation and assesses the current state-of-the-art.

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“…The complete methodology, from calculating ZMP and classifying them into STABLE and UNSTABLE class in the training phase to the corrective motor action taken in the testing phase to guarantee stability is dealt next in Section IV. Finally, Section V deals with the results obtained with our structure, which was verified by a real time simulation of the humanoid robot HOAP-2 in Webots and ZMP readings from NaO robot walking [5].…”

Section: Introductionmentioning

confidence: 97%

ZMP based feedback control of ankle joint

Saurav

Sonkar

Raj

et al. 2015

2015 International Conference on Industrial Instrumentation and Control (ICIC)

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This research presents a novel numerically efficient method for calculating the Zero Moment Point (ZMP) of a bipedal walking robot, with a perspective of analysing its stability. In this context, a 1-DOF (ankle) structure has been constructed to resemble a robotic leg, with the force sensitive resistors (FSR) attached on its sole. By obtaining the sensory readings, ZMP has been calculated and analysed. The ZMP is calculated for different configurations of our indigenous model, which is then used for checking its stability. ZMP graphs have been generated from this sensory data and also have been classified into STABLE and UNSTABLE classes. The ZMP plot obtained for stable and unstable configurations is supported by a simulation of a HOAP-2 (Humanoid for Open Architecture Platform-2) robot in Webots and an experiment conducted on NaO robot. An another replica of the indigenous model is made but, with a motor attached to its joint. In order to prevent the model from tipping over, a corrective motor action is taken, when the ZMP calculated lies in the UNSTABLE region.

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Estimation of Ground Reaction Force and Zero Moment Point on a Powered Ankle-Foot Prosthesis

Cited by 10 publications

References 61 publications

Motion-analysis studies of transtibial prosthesis users

Motion-analysis studies of transtibial prosthesis users

Advances Regarding Powered Prosthesis for Transtibial Amputation

ZMP based feedback control of ankle joint

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