Design of a fully-passive transfemoral prosthesis prototype

Behrens, S. M.; Ünal, Ramazan; Hekman, Edsko E.G.; Carloni, Raffaella; Koopman, Bart

doi:10.1109/iembs.2011.6090111

Cited by 13 publications

(15 citation statements)

References 13 publications

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“…Regarding the latter, we presented the design and realization of an energy-efficient trans-femoral prosthesis for walking in our previous studies [18], [19], [20]. It contains three distinct elements, which provide a large portion of the required energy for the ankle push-off generation [21].…”

Section: Introductionmentioning

confidence: 99%

The control of recycling energy strorage capacity for WalkMECHadapt

Ünal

Klijnstra

Behrens

et al. 2014

The 23rd IEEE International Symposium on Robot and Human Interactive Communication

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In this study, we present the implementation of the controller for adapting the energy storage capacity of the WalkMECH according to the different walking speeds and gait characteristics of an amputee. Since the main aim is to keep the design both mechanically and metabolically energyefficient, the actuation system is designed based on the minimal actuation principle. The overall system, called WalkMECHadapt, is evaluated with the experimental test set-up with a healthy subject. Test results show that the system is working sufficiently for adapting the energy storage capacity of the WalkMECHadapt thanks to the simple nature of the controller architecture.

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Section: Introductionmentioning

confidence: 99%

The control of recycling energy strorage capacity for WalkMECHadapt

Ünal

Klijnstra

Behrens

et al. 2014

The 23rd IEEE International Symposium on Robot and Human Interactive Communication

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“…The device consists of a rubber base which enables the prosthesis to function the push-off movement of the foot with varying arch and windlass mechanism. This [8], (b) fully passive transfemoral prosthesis prototype [9], (c) prosthetic ankle-foot system [10], and (d) bipedal walking robot with oblique midfoot joint in foot [11]. Figure 9: Passive foot prostheses.…”

Section: Bipedal Walking Robot With Oblique Midfoot Joint Inmentioning

confidence: 99%

“…Aluminum and carbon fiber materials are more common due to the high strength and lightweight in the majority of these designs. Some foot prostheses have validated joint torques, forces, and angle for gait cycle [8,9,20] yet few simulated design performance [12]. [20].…”

Section: 9mentioning

confidence: 99%

“…The Heel Foot was validated for relative joint angle, joint Journal of Robotics 7 torque, joint power, and force variation for gait cycle for proving the prototype functionality. [9]. Fully passive transfemoral prosthesis (Figure 8(b)) was developed by the University of Twente, Enscheda, Netherlands, in 2011.…”

Section: Review On Adaptive Foot Prosthesesmentioning

confidence: 99%

“…Foot amputees' lives can be uplifted and made comfortable and more productive to the society by developing advanced, reliable prosthetic solutions. Currently, some passive [8][9][10][11][12][13][14][15][16], active [17][18][19], and hybrid [20][21][22][23][24][25][26][27][28][29][30] adaptive foot prostheses have been developed with a focus on different functional requirements and design mechanisms.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Adaptive Foot in Lower-Limb Prostheses

Weerakkody

Lalitharatne

Gopura

2017

Journal of Robotics

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The human foot consists of complex sets of joints. The adaptive nature of the human foot enables it to be stable on any uneven surface. It is important to have such adaptive capabilities in the artificial prosthesis to achieve most of the essential movements for lowerlimb amputees. However, many existing lower-limb prostheses lack the adaptive nature. This paper reviews lower-limb adaptive foot prostheses. In order to understand the design concepts of adaptive foot prostheses, the biomechanics of human foot have been explained. Additionally, the requirements and design challenges are investigated and presented. In this review, adaptive foot prostheses are classified according to actuation method. Furthermore, merits and demerits of present-day adaptive foot prostheses are presented based on the hardware construction. The hardware configurations of recent adaptive foot prostheses are analyzed and compared. At the end, potential future developments are highlighted.

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Spur Gear Mechanism for Accurate Angular Indexing and Locking of Angular Position by Using Additive Manufacturing

Pugalendhi¹,

Ranganathan²,

Vivek³

2021

Lecture Notes in Mechanical Engineering

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Ratchet and pawl mechanism is used neither in many applications to provide precise locking of components either in linear nor in rotational directions. The number of locking positions depends on the total number of teeth on the ratchet. The objective is to increase the number of locking positions and thus minimizing the interval angle. For this objective to be fulfilled, spur gear is treated as ratchet, and meshing spur gear teeth is treated as pawl (named as lock). Due to the geometry of the spur gear teeth, the apparatus facilitates bidirectional locking. Spur gear permits 18 teeth in angular positions (P) achieved by a traditional ratchet mechanism with interval angles (A) of 20°. The locking of desired angle is impossible except for 18 positions of 20°, 40°, and 60°up to 360°. This study gives a better solution for increasing the number of locking position as well as decreasing the interval angles by introducing an innovative mechanism. Here, rearranging the position of the lock results in increasing the number of angular positions without increasing the number of teeth. Outcome of the paper is developed design which provides four times increase and reduction of angular positions. The locking position is derived by a mathematical formula, and simulation of the assembly was performed by using CAD software. Finally, the concept was proven by physical prototype fabricated through additive manufacturing technology and compared with traditional ratchet mechanism.

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Design of a fully-passive transfemoral prosthesis prototype

Cited by 13 publications

References 13 publications

The control of recycling energy strorage capacity for WalkMECHadapt

The control of recycling energy strorage capacity for WalkMECHadapt

Adaptive Foot in Lower-Limb Prostheses

Spur Gear Mechanism for Accurate Angular Indexing and Locking of Angular Position by Using Additive Manufacturing

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