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The majority of commercial prosthetic knees are passive in nature and therefore cannot replicate the positive mechanical work exhibited by the natural human knee in early and late stance. In contrast to traditional purely dissipative prosthetic knees, we propose a biomimetic active agonist-antagonist structure designed to reproduce both positive and negative work phases of the natural joint while...
This paper presents the mechanical design, control scheme, and clinical evaluation of a novel, motorized ankle-foot prosthesis, called MIT Powered Ankle-Foot Prosthesis. Unlike a conventional passive-elastic ankle-foot prosthesis, this prosthesis can provide active mechanical power during the stance period of walking. The basic architecture of the prosthesis is a unidirectional spring, configured...
The ground reaction force (GRF) and the zero moment point (ZMP) are important parameters for the advancement of biomimetic control of robotic lower-limb prosthetic devices. In this document a method to estimate GRF and ZMP on a motorized ankle-foot prosthesis (MIT Powered Ankle-Foot Prosthesis) is presented. The method proposed is based on the analysis of data collected from a sensory system embedded...
In this paper, we seek to understand how leg muscles and tendons work mechanically during walking in order to motivate the design of efficient robotic legs. We hypothesize that a robotic leg comprising only knee and ankle passive and quasi-passive elements, including springs, clutches and variable-damping components, can capture the dominant mechanical behavior of the human knee and ankle during level-ground...
Although below-knee prostheses have been commercially available for some time, today's devices are completely passive, and consequently, their mechanical properties remain fixed with walking speed and terrain. A lack of understanding of the ankle-foot biomechanics and the dynamic interaction between an amputee and a prosthesis is one of the main obstacles in the development of a biomimetic ankle-foot...
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