A universal ankle-foot prosthesis emulator for human locomotion experiments

Journal of Biomechanical Engineering
Joshua M Caputo, Steven H Collins

Abstract

Robotic prostheses have the potential to significantly improve mobility for people with lower-limb amputation. Humans exhibit complex responses to mechanical interactions with these devices, however, and computational models are not yet able to predict such responses meaningfully. Experiments therefore play a critical role in development, but have been limited by the use of product-like prototypes, each requiring years of development and specialized for a narrow range of functions. Here we describe a robotic ankle-foot prosthesis system that enables rapid exploration of a wide range of dynamical behaviors in experiments with human subjects. This emulator comprises powerful off-board motor and control hardware, a flexible Bowden cable tether, and a lightweight instrumented prosthesis, resulting in a combination of low mass worn by the human (0.96 kg) and high mechatronic performance compared to prior platforms. Benchtop tests demonstrated closed-loop torque bandwidth of 17 Hz, peak torque of 175 Nm, and peak power of 1.0 kW. Tests with an anthropomorphic pendulum "leg" demonstrated low interference from the tether, less than 1 Nm about the hip. This combination of low worn mass, high bandwidth, high torque, and unrestricted move...Continue Reading

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Citations

Apr 19, 2015·Journal of Neuroengineering and Rehabilitation·Kota Z TakahashiGregory S Sawicki
May 1, 2015·Journal of Neuroengineering and Rehabilitation·Myunghee Kim, Steven H Collins
Apr 19, 2015·Journal of Neuroengineering and Rehabilitation·Philippe MalcolmSteven H Collins
Apr 6, 2016·IEEE Transactions on Bio-medical Engineering·Massimo SartoriDario Farina
Aug 11, 2015·IEEE Transactions on Bio-medical Engineering·Carmichael OngScott Delp
Sep 24, 2016·Computational and Mathematical Methods in Medicine·Yueh-Hsun LuChia-Yuan Chen
Sep 23, 2016·PloS One·Thomas K UchidaScott L Delp
Feb 18, 2016·IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·Wietse van DijkHerman van der Kooij
Dec 4, 2014·Scientific Reports·Joshua M Caputo, Steven H Collins
Jun 24, 2017·Science·Juanjuan ZhangSteven H Collins
Sep 9, 2017·IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·Max K Shepherd, Elliott J Rouse
May 17, 2019·Journal of Neuroengineering and Rehabilitation·Emily M McCainGregory S Sawicki
Jul 15, 2015·Journal of Applied Physiology·Rachel W Jackson, Steven H Collins
Apr 21, 2018·Journal of Healthcare Engineering·Xiangfeng ZengSheng Q Xie
Oct 18, 2018·Applied Bionics and Biomechanics·Yixiang LiuMing Wu
Jul 14, 2017·Journal of Neuroengineering and Rehabilitation·Philippe MalcolmConor J Walsh
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Jun 17, 2020·Journal of Neuroengineering and Rehabilitation·Richard W Nuckols, Gregory S Sawicki
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May 27, 2021·Royal Society Open Science·Cara Gonzalez WelkerSteven H Collins
Aug 27, 2021·Journal of Neuroengineering and Rehabilitation·Tyler R ClitesElliott J Rouse
Aug 31, 2021·Current Opinion in Biomedical Engineering·He Helen HuangMinhan Li

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