Design of a powered ankle-foot prosthesis with an adjustable stiffness toe joint

doi:10.1080/01691864.2020.1750479

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	Design of a powered ankle-foot prosthesis with an adjustable stiffness toe joint
	She, Haotian 2,3; Zhu, Jinying 1,4; Tian, Ye 2,3; Wang, Yanchao 2,3; Huang, Qiang 2,3
刊名	ADVANCED ROBOTICS
	2020-04-07
页码	9
关键词	Powered ankle-foot prosthesis series elastic actuator ankle joint toe joint
ISSN号	0169-1864
DOI	10.1080/01691864.2020.1750479
通讯作者	Tian, Ye(tianye7248@bit.edu.cn)
英文摘要	This paper proposes a powered ankle-foot prosthesis called PANTOE II, which includes an ankle and a segmented foot with a toe joint. The ankle and toe joints are both driven by series elastic actuators, which can reduce the required velocity and energy consumption of the actuators. The mechanical design of the ankle and toe joints makes the prosthesis more compact. In addition, PANTOE II employs a more human-like foot, which includes the heel, the mid foot, and the toe. Both the heel and the toe are made of leaf springs, and the mid foot is used to install the transmission mechanisms. The finite state control strategy is used for controlling the prosthesis. To evaluate the basic performance of PANTOE II, experiments are conducted on a subject with a transtibial amputation. Wearing PANTOE II, the amputee feels more comfortable and presents more symmetrical walking gaits.
资助项目	Beijing Advanced Innovation Center of Intelligent Robots and Systems[2016IRS23]
WOS关键词	TRANSTIBIAL PROSTHESIS ; WALKING ; LEVEL
WOS研究方向	Robotics
语种	英语
出版者	TAYLOR & FRANCIS LTD
WOS记录号	WOS:000526475100001
资助机构	Beijing Advanced Innovation Center of Intelligent Robots and Systems
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/38874]
专题	精密感知与控制研究中心_精密感知与控制
通讯作者	Tian, Ye
作者单位	1.Beijing Adv Innovat Ctr Intelligent Robot & Syst, Beijing, Peoples R China 2.Minist Educ, Key Lab Biomimet Robots & Syst, Beijing 100081, Peoples R China 3.Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China 4.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China
推荐引用方式 GB/T 7714	She, Haotian,Zhu, Jinying,Tian, Ye,et al. Design of a powered ankle-foot prosthesis with an adjustable stiffness toe joint[J]. ADVANCED ROBOTICS,2020:9.
APA	She, Haotian,Zhu, Jinying,Tian, Ye,Wang, Yanchao,&Huang, Qiang.(2020).Design of a powered ankle-foot prosthesis with an adjustable stiffness toe joint.ADVANCED ROBOTICS,9.
MLA	She, Haotian,et al."Design of a powered ankle-foot prosthesis with an adjustable stiffness toe joint".ADVANCED ROBOTICS (2020):9.