The AMP-Foot 2.0: Mimicking intact ankle behavior with a powered transtibial prosthesis

Cherelle, Pierre; Matthys, Arnout; Grosu, Victor; Vanderborght, Bram; Lefeber, Dirk

doi:10.1109/biorob.2012.6290783

Cited by 46 publications

(33 citation statements)

References 9 publications

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“…Biomimetic mechatronic devices, such as prostheses, orthoses, and exoskeletons, have been designed to match nonamputee leg joint biomechanics in order to restore function in individuals with a physical impairment and augment function in unimpaired individuals (Zoss et al, 2005;Au et al, 2009; Cherelle et al, 2012;Collins et al, 2015). When non-amputees walk uphill at 10°, the hip and ankle work combine to provide 86 and 95% of leg positive and net leg work, respectively, and to walk downhill at −10° the muscles acting at the knee perform 58 and 81% of the negative and net leg work (DeVita et al, 2007).…”

mentioning

confidence: 99%

Individual Leg and Joint Work during Sloped Walking for People with a Transtibial Amputation Using Passive and Powered Prostheses

Jeffers

Grabowski

2017

Front. Robot. AI

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People with a transtibial amputation using passive-elastic prostheses exhibit reduced prosthetic ankle power and push-off work compared to non-amputees and compensate by increasing their affected leg (AL) hip joint work and unaffected leg (UL) ankle, knee, and hip joint and leg work during level-ground walking. Use of a powered ankle-foot prosthesis normalizes step-to-step transition work during level-ground walking over a range of speeds for people with a transtibial amputation, but the effects on joint work during level-ground, uphill, and downhill walking have not been assessed. We investigated how use of passive-elastic and powered ankle-foot prostheses affect leg joint biomechanics during level-ground and sloped walking. 10 people with a unilateral transtibial amputation walked at 1.25 m/s on a dual-belt force-measuring treadmill at 0°, ±3°, ±6°, and ±9° using their own passive-elastic and a powered prosthesis (BiOM T2, BionX Medical Technologies, Inc., Bedford, MA, USA) while we measured kinematic and kinetic data. We calculated AL and UL prosthetic, ankle, knee, hip, and individual leg positive, negative, and net work. Use of a powered compared to passive-elastic anklefoot prosthesis resulted in greater AL prosthetic and individual leg net work on uphill and downhill slopes. Over a stride, AL prosthetic positive work was 23-30% greater (p < 0.05) during walking on uphill slopes of +6°, and +9°, prosthetic net work was up to 10 times greater (more positive) (p ≤ 0.005) on all uphill and downhill slopes and individual leg net work was 146 and 82% more positive (p < 0.05) at uphill slopes of +6° and +9°, respectively, with use of the powered compared to passive-elastic prosthesis. Greater prosthetic positive and net work through use of a powered ankle-foot prosthesis during uphill and downhill walking improves mechanical work symmetry between the legs, which could decrease metabolic cost and improve functional mobility in people with a transtibial amputation.

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confidence: 99%

Individual Leg and Joint Work during Sloped Walking for People with a Transtibial Amputation Using Passive and Powered Prostheses

Jeffers

Grabowski

2017

Front. Robot. AI

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“…Or the AMPfoot prosthesis were October 7-12, 2012. Vilamoura, Algarve, Portugal energy is stored and released during walking [28]. By storing energy in a spring a ball can be thrown or kicked much further than when a stiff actuator is used [14].…”

Section: Applicationsmentioning

confidence: 99%

Variable impedance actuators: Moving the robots of tomorrow

Vanderborght

Bicchi

Burdet

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…This was an initial design with a flat foot, yet with spring, locking mechanism, and planetary/epicyclical gear system to control the movement of joint. The locking mechanism was the intuition for developing the AMP-Foot 2.0 [26,27] later with foot mechanism. This design was validated experimentally to prove the functional capability of ankle foot.…”

Section: 13mentioning

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%

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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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The AMP-Foot 2.0: Mimicking intact ankle behavior with a powered transtibial prosthesis

Cited by 46 publications

References 9 publications

Individual Leg and Joint Work during Sloped Walking for People with a Transtibial Amputation Using Passive and Powered Prostheses

Individual Leg and Joint Work during Sloped Walking for People with a Transtibial Amputation Using Passive and Powered Prostheses

Variable impedance actuators: Moving the robots of tomorrow

Adaptive Foot in Lower-Limb Prostheses

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