Design, Optimization and Energetic Evaluation of an Efficient Fully Powered Ankle-Foot Prosthesis With a Series Elastic Actuator

Dong, Dianbiao; Ge, Wenjie; Convens, Bryan; Sun, Yuanxi; Verstraten, Tom; Vanderborght, Bram

doi:10.1109/access.2020.2983518

Cited by 19 publications

(14 citation statements)

References 52 publications

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“…Even though walking is easy and straight-forward for able-bodied, it can be very challenging for specific groups of people to perform basic motions, not in the least for people who underwent lower-limb amputation due to sickness or trauma. Currently, technological advances in prosthetic design are trying to improve functionality through inventive mechanisms and powerful motors [ 1 , 2 , 3 , 4 , 5 ]. However, these devices can only provide good performance when paired with a functional gait phase detection algorithm.…”

Section: Introductionmentioning

confidence: 99%

A Review of Gait Phase Detection Algorithms for Lower Limb Prostheses

Dong

Cao

et al. 2020

Sensors

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Fast and accurate gait phase detection is essential to achieve effective powered lower-limb prostheses and exoskeletons. As the versatility but also the complexity of these robotic devices increases, the research on how to make gait detection algorithms more performant and their sensing devices smaller and more wearable gains interest. A functional gait detection algorithm will improve the precision, stability, and safety of prostheses, and other rehabilitation devices. In the past years the state-of-the-art has advanced significantly in terms of sensors, signal processing, and gait detection algorithms. In this review, we investigate studies and developments in the field of gait event detection methods, more precisely applied to prosthetic devices. We compared advantages and limitations between all the proposed methods and extracted the relevant questions and recommendations about gait detection methods for future developments.

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Section: Introductionmentioning

confidence: 99%

A Review of Gait Phase Detection Algorithms for Lower Limb Prostheses

Dong

Cao

et al. 2020

Sensors

Self Cite

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“…It was good to improve electrical efficiency by affecting required torque and speed at the output of the motor thereby reducing the load of the main transmission system. The proposed prosthesis was 36.8% lower build height (12 cm) with a reduction in the motor's peak power from 150W to 132W during a normal walk on treadmill trials [52]. Among the three main categories of prostheses discussed above, the design of a semi-active prosthesis seems to be an appropriate choice for the amputee keeping in view the cost, simplicity, and lightweight.…”

Section: A General Categories Of Lower Limb Prosthesismentioning

confidence: 97%

Advancements, Trends and Future Prospects of Lower Limb Prosthesis

et al. 2021

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Amputees with lower limb loss need special care during daily life activities to make the movement natural as before amputation. No such work exists covering the main aspects from causes of amputation to the psycho-social impact of the amputees after using the prosthetic device. This review presents for lower limb prosthesis; the study of lower limb amputation, design & development, control strategies & machine learning algorithms, the psycho-social impact of prosthetic users, and design trends in patents. Research articles, review papers, magazines, letters, study reports, surveys, and patents, etc. have been used as sources for this review. Traumatic injuries and different diseases have been found as common causes of amputation. Design & development section illustrates design mechanisms, the categories of passive, active, & semi-active prostheses, an overview of a subset of commercially available prosthetic devices, and 3D printing of the accessories. The control section provides information about control techniques, sensors used, machine learning algorithms, and their key outcomes. Quality of life, phantom limb pain, and psycho-social impact of prosthetic users have been summarized for different countries that are believed to attract the interest of the readers. We have also developed an opensource database "FAKH-50" for patents to emphasize the design trends and advancements in lower limb prostheses from 1970 to 2020. Overall trend analysis determined is in the descending order as the knee (48%) > ankle (28%) > foot (22%) > hip (2%) patents in the current version of our database. The forthcoming section highlights the challenges and prospects of the domain. A mutual observation demands the design of a bio-compatible, lightweight, and economic prosthesis to track the normal human gait by eliminating phantom limb pain. This will empower the amputees to live a quality life in society. This work may be beneficial for researchers, technicians, clinicians, and amputees.INDEX TERMS Causes of amputation, lower limb amputation, lower limb prosthesis, design mechanisms, semi-active prosthesis, human gait cycle.

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“…To further improve the torque control accuracy, one of the internal stiff components of the actuator drivetrain can be replaced by an elastic component. By measuring the deformation of the elastic element using a potentiometer [7] or encoder [8][9][10], the actuator torque can be indirectly obtained and controlled. Known as the series elastic actuator (SEA) [11], SEAs can also be used for impact protection and energy storage.…”

Section: Introductionmentioning

confidence: 99%

Torque-Sensorless Control of Stepper Motors for Low-Cost Compliant Motion Generation

et al. 2021

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Actuators that can generate controllable compliant output motion are suitable for robots that need to interact safely with humans or the environment. To obtain the accurate output torque required to control the compliant motion, existing robotic actuators use one or more sensors to measure the deformation of a stiff or compliant element between the actuator and the output. The complexity, reliability, and cost of sensors are the current challenges. Deformation-based sensing also suffers from limited bandwidth and stability range. This paper proposes a torque-sensorless control method of stepper motors to generate compliant motion. Stepper motors are used because of their low cost and reliability. They also have a much higher torque-to-weight ratio and torque-to-rotor-inertia ratio than other DC motors. Torque and impedance controllers based on stepper motor current feedback are developed. Torque-sensorless impedance, and gripping force control experiments are provided to show the advantages of the proposed method. It is expected that the new control method for stepper motors can offer a competitive alternative when cost, stability, or bandwidth of complaint actuators are the major concerns.

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Design, Optimization and Energetic Evaluation of an Efficient Fully Powered Ankle-Foot Prosthesis With a Series Elastic Actuator

Cited by 19 publications

References 52 publications

A Review of Gait Phase Detection Algorithms for Lower Limb Prostheses

A Review of Gait Phase Detection Algorithms for Lower Limb Prostheses

Advancements, Trends and Future Prospects of Lower Limb Prosthesis

Torque-Sensorless Control of Stepper Motors for Low-Cost Compliant Motion Generation

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