Concept Through Preliminary Bench Testing of a Powered Lower Limb Prosthetic Device

Bergelin, Bryan J.; Mattos, Javier O.; Wells, Joseph G.; Voglewede, Philip A.

doi:10.1115/1.4002205

Cited by 19 publications

(10 citation statements)

References 24 publications

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“…Only normal speed of able-bodied walking was considered in this optimization to prove the feasibility of the design concept. The details of this optimization are described in Bergelin et al [2].…”

Section: Previous Workmentioning

confidence: 99%

“…This function does not exist in current passive transtibial prostheses. Because active power is required for adequate push-off, a new type of powered transtibial prosthesis with a brushed DC motor was previously designed and fabricated [2,3]. To regulate the power generated by the motor, a control system was also designed and implemented [4].…”

Section: Introductionmentioning

confidence: 99%

“…The nonlinear nature of a four-bar mechanism with respect to its angular position was utilized in conjunction with a torsional spring to mimic the nonlinear behavior of a human ankle [3]. Simulation shows that the mechanism matches the nonlinear impedance behavior of a human ankle [2]. The advantage of this design is that it can give the user a smoother transition between the nonlinear points of ankle impedance.…”

Section: Introductionmentioning

confidence: 99%

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Amputee Subject Testing Protocol, Results, and Analysis of a Powered Transtibial Prosthetic Device

Sun

Fritz

Toro

et al. 2014

Journal of Medical Devices

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A powered ankle-foot prothesis and its control system were previously designed and built. To evaluate this prosthesis, amputee subject testing was performed. The testing results are analyzed and compared between the powered prosthesis, passive prosthesis, and able-bodied gait. Qualitative comparison showed the prosthesis achieved the design objectives. During stance phase, active ankle moment was generated in the powered prosthesis before push-off to help the amputee walk more naturally. During swing phase, the powered prosthesis was able to move to natural position to achieve foot clearance. However, the prosthesis is slightly under powered compared with the able-bodied ankle.

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Section: Previous Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Amputee Subject Testing Protocol, Results, and Analysis of a Powered Transtibial Prosthetic Device

Sun

Fritz

Toro

et al. 2014

Journal of Medical Devices

Self Cite

View full text Add to dashboard Cite

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“…A proof-of-concept prototype, shown in Figure 12(a), was designed by Bergelin et al [63] optimized, fabricated, and tested with the purpose of demonstrating its ability to match crucial ankle moments during the stance phase of gait. To power the prototype, a Yaskawa SGMAH-02AAN21 200 W motor mated with a right angle gearhead (10 : 1 ratio, 95% efficiency) was used.…”

Section: Advances In Mechanical Engineeringmentioning

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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“…Several recent prosthetic design studies [1][2][3][4][5] have focused on the development of powered ankles to assist lower limb amputees with push-off, attempting to decrease energy costs associated with ambulation. Designing a powered prosthetic ankle of similar size and mass as that of the intact ankle that provides sufficient torque to propel an amputee is particularly challenging.…”

Section: Introductionmentioning

confidence: 99%

Preliminary investigation of residual limb plantarflexion and dorsiflexion muscle activity during treadmill walking for trans-tibial amputees

Silverthorn¹,

Current²,

Kuhse³

2012

Prosthetics &Amp; Orthotics International

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Background:Novel powered prosthetic ankles currently incorporate finite state control, using kinematic and kinetic sensors to differentiate stance and swing phases/sub-phases and control joint impedance and position or torque. For more intuitive control, myoelectric control of the ankle using the remnant residual limb dorsiflexors and plantarflexors, perhaps in concert with kinetic and kinematic sensors, may be possible.Objective:The specific research objective was to assess the feasibility of using myoelectric control of future active or powered prosthetic ankle joints for trans-tibial amputees.Study Design:The project involved human subject trials to determine whether current techniques of myoelectric control of upper extremity prostheses might be readily adapted for lower extremity prosthetic control.Methods:Gait analysis was conducted for three unilateral trans-tibial amputee subjects during ambulation on an instrumented split belt treadmill. Data included ankle plantarflexor and dorsiflexor activity for the residual limb, as well as lower limb kinematics and ground reaction forces and moments of both the sound and prosthetic limbs.Results:These data indicate that: 1) trans-tibial amputees retain some independent ankle plantarflexor and dorsiflexor muscle activity of their residual limb; 2) it is possible to position surface electromyographic electrodes within a trans-tibial socket that maintain contact during ambulation; 3) both the plantarflexors and dorsiflexors of the residual limb are active during gait; 4) plantarflexor and dorsiflexor activity is consistent during multiple gait cycles; and 5) with minimal training, trans-tibial amputees may be able to activate their plantarflexors during push-off.Conclusions:These observations demonstrate the potential for future myoelectric control of active prosthetic ankles.Clinical relevanceThis study demonstrated the feasibility of applying upper extremity prosthetic myoelectric signal acquisition, processing and control techniques to future myoelectric control of active prosthetic ankles for trans-tibial amputees.

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Concept Through Preliminary Bench Testing of a Powered Lower Limb Prosthetic Device

Cited by 19 publications

References 24 publications

Amputee Subject Testing Protocol, Results, and Analysis of a Powered Transtibial Prosthetic Device

Amputee Subject Testing Protocol, Results, and Analysis of a Powered Transtibial Prosthetic Device

Advances in Propulsive Bionic Feet and Their Actuation Principles

Preliminary investigation of residual limb plantarflexion and dorsiflexion muscle activity during treadmill walking for trans-tibial amputees

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