Conference Paper

Prototype design and realization of an innovative energy efficient transfemoral prosthesis

Fac. of Electr. Eng., Math. & Comput. Sci., Univ. of Twente, Enschede, Netherlands
DOI: 10.1109/BIOROB.2010.5626778 Conference: Biomedical Robotics and Biomechatronics (BioRob), 2010 3rd IEEE RAS and EMBS International Conference on
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In this paper, we present the prototype realization of the conceptual design of a fully-passive transfemoral prosthesis. The working principle has been inspired by the power flow in human gait so to achieve an energy efficient device. The main goal of this paper is to validate the concept by implementing in a real prototype. The prototype, in scale 1 : 2 with respect to the average dimensions of an adult human, is based on two storage elements, which are responsible for the energetic coupling between the knee and ankle joints during the swing phase and for the energy storage during the stance phase. The design parameters of the prototype are determined according to the human body and the energetic characteristics of the gait. The construction of the prototype is explained in details together with a test setup that has been built to evaluate the prototype.

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    • "Note that there are a few prostheses in which the knee and the ankle joints are connected each other for level walking [11]. These prosthesis uses energy stored in the ankle joint for knee extension while the energy flow of the proposed prosthesis energy flow is intended to be opposite direction. "
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    ABSTRACT: Stair ascent is still a difficult task for transfemoral prosthesis users. So far, a passive knee joint unit for transfemoral prosthesis developed in our previous study achieved stair ascending without handrails or any other assistance devices. However, the experimental results with the simulated socket showed that the users faced difficulty in using the knee joint at the beginning of the load response phase. In addition, large moment power of the prosthetic side's hip joint in the stance phase was required, leading to a significant imbalance of power consumption between the intact and prosthetic sides. Therefore, the purpose of the present study was to develop a passive transfemoral prosthesis for stair ascent, which had a knee extension function associated with a movable ankle joint during the stance phase in order to change the admissible force region. Experimental results by non-amputated participants with the simulated socket demonstrated that ascending was achieved in the step-over-step manner without any assistive device. In addition, it was shown that the hip joint moment power reduced to equalize the joint moment powers in both sides.
    IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, Singapore; 08/2015
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    • "In our previous work, we designed and realized a fully-passive transfemoral prosthesis prototype for normal walking, WalkMECH, which provides 76% of the required energy for the ankle pushoff generation [1], [2]. The conceptual design is based on the analysis of the energetics of walking of the natural human gait with the final goal of having an energy efficient device [3], [4]. This is done by including three elastic elements, which realize an energetic coupling between the knee and the ankle joints. "
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    ABSTRACT: In this paper we present the port-based model of WalkMECH, a fully-passive transfemoral prosthesis prototype that has been designed and realized for normal walking. The model has been implemented in a simulation environment so to analyze the performance of the prosthetic leg in walking experiments and so to enhance the mechanics of the system. The accuracy of the model has been validated by experimental tests with a unilateral amputee participant.
    IEEE International Conference on Rehabilitation Robotics : [proceedings] 06/2013; 2013:1-6. DOI:10.1109/ICORR.2013.6650406
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    • "Electrically powered transfemoral prosthesis , which includes a spring in parallel to the ankle motor unit, has been reported in [11]. In [12] and [13], we proposed This work has been funded by the Dutch Technology Foundation STW as part of the project REFLEX-LEG under the grant no. 08003. "
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    ABSTRACT: In this study, we present the mechanical design of a prototype of a fully-passive transfemoral prosthesis for normal walking. The conceptual working principle at the basis of the design is inspired by the power flow in human gait, with the main purpose of realizing an energy efficient device. The mechanism is based on three elements, which are responsible of the energetic coupling between the knee and ankle joints. The design parameters of the prototype are determined according to the human body and the natural gait characteristics, in order to mimic the dynamic behavior of a healthy leg. Hereby, we present the construction details of the prototype, which realizes the working principle of the conceptual mechanism.
    Conference proceedings: ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference 08/2011; 2011:591-4. DOI:10.1109/IEMBS.2011.6090111
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