The AMP-Foot 3, new generation propulsive prosthetic feet with explosive motion characteristics: design and validation

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• 作者：Pierre Cherelle ; Victor Grosu ; Manuel Cestari…
• 关键词：Bionic feet ; Prosthetics ; Compliant actuation
• 刊名：BioMedical Engineering OnLine
• 出版年：2016
• 出版时间：December 2016
• 年：2016
• 卷：15
• 期：3-supp
• 全文大小：2655KB
• 刊物类别：Engineering
• 刊物主题：Biomedical Engineering; Biomaterials; Biotechnology; Biomedical Engineering/Biotechnology;
• 出版者：BioMed Central
• ISSN：1475-925X
• 卷排序：15

文摘

The last decades, rehabilitation has become a challenging context for mechatronical engineering. From the state-of-the-art it is seen that the field of prosthetics offers very promising perspectives to roboticist. Today’s prosthetic feet tend to improve amputee walking experience by delivering the necessary push-off forces while walking. Therefore, several new types of (compliant) actuators are developed in order to fulfill the torque and power requirements of a sound ankle-foot complex with minimized power consumption. At the Vrije Universiteit Brussel, the Robotics and Multibody Mechanics research group puts a lot of effort in the design and development of new bionic feet. In 2013, the Ankle Mimicking Prosthetic (AMP-) Foot 2, as a proof-of-concept, showed the advantage of using the explosive elastic actuator capable of delivering the full ankle torques (\(\pm 120\) Nm) and power (\(\pm 250\) W) with only a 60 W motor. In this article, the authors present the AMP-Foot 3, using an improved actuation method and using two locking mechanisms for improved energy storage during walking. The article focusses on the mechanical design of the device and validation of its working principle.