A low-power ankle-foot prosthesis for push-off enhancement
Alessandro Mazzarini, Matteo Fantozzi, Vito Papapicco, Ilaria Fagioli, Francesco Lanotte, Andrea Baldoni, Filippo Dell’Agnello, Paolo Ferrara, Tommaso Ciapetti, Raffaele Molino Lova, Emanuele Gruppioni, Emilio Trigili, Simona Crea, Nicola Vitiello
TL;DR
This paper introduces a low-power robotic module that enhances the push-off of passive ankle-foot prostheses, improving gait and energy return for amputees.
Contribution
The novel low-power active prosthetic module enhances energy return by augmenting off-the-shelf passive prostheses with parallel elastic actuation.
Findings
The module increased dorsiflexion peak by 15.2% and 41.6% for two amputees during treadmill walking.
Energy return improved by 26% and 45% for the two subjects, with a 2% increase in cadence observed.
The control strategy adapts to user cadence and loading conditions for optimal energy return timing.
Abstract
Passive ankle-foot prostheses are light-weighted and reliable, but they cannot generate net positive power, which is essential in restoring the natural gait pattern of amputees. Recent robotic prostheses addressed the problem by actively controlling the storage and release of energy generated during the stance phase through the mechanical deformation of elastic elements housed in the device. This study proposes an innovative low-power active prosthetic module that fits on off-the-shelf passive ankle-foot energy-storage-and-release (ESAR) prostheses. The module is placed parallel to the ESAR foot, actively augmenting the energy stored in the foot and controlling the energy return for an enhanced push-off. The parallel elastic actuation takes advantage of the amputee’s natural loading action on the foot’s elastic structure, retaining its deformation. The actuation unit is designed to…
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Taxonomy
TopicsCrustacean biology and ecology · Fish Biology and Ecology Studies