Non-Backdrivable Wedge Cam Mechanism for a Semi-Active Two-Axis Prosthetic Ankle
Michael J. Greene,
Ivan Fischman Ekman Simões,
Preston R. Lewis
et al.
Abstract:Frontal plane ankle motion is important for balance in walking but is seldom controlled in robotic prostheses. This article describes the design, control and performance of a semi-active two-degree-of-freedom robotic prosthetic ankle. The mechanism uses a non-backdrivable wedge cam system based on rotating inclined planes, allowing actuation only during swing phases for low power, light weight and compactness. We present details of the mechanism and its kinematic and mechatronic control, and a benchtop investi… Show more
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