Design and Preliminary Testing of a Prototype for Evaluating Lower Leg Trajectory Error as an Optimization Metric for Prosthetic Feet
This work presents the design and preliminary testing of a prosthetic foot prototype intended for evaluating a novel design objective for passive prosthetic feet, the Lower Leg Trajectory Error (LLTE). Thus far, all work regarding LLTE has been purely theoretical. The next step is to perform extensi...
| Main Authors: | , |
|---|---|
| Other Authors: | |
| Format: | Article |
| Published: |
ASME International
2019
|
| Online Access: | http://hdl.handle.net/1721.1/120767 https://orcid.org/0000-0002-2940-2383 https://orcid.org/0000-0002-4151-0889 |
| _version_ | 1811089616828104704 |
|---|---|
| author | Olesnavage, Kathryn Winter, Amos G. |
| author2 | MIT-SUTD Collaboration |
| author_facet | MIT-SUTD Collaboration Olesnavage, Kathryn Winter, Amos G. |
| author_sort | Olesnavage, Kathryn |
| collection | MIT |
| description | This work presents the design and preliminary testing of a prosthetic foot prototype intended for evaluating a novel design objective for passive prosthetic feet, the Lower Leg Trajectory Error (LLTE). Thus far, all work regarding LLTE has been purely theoretical. The next step is to perform extensive clinical testing. An initial prototype consisting of rotational ankle and metatarsal joints with constant rotational stiffness was optimized and built, but at 2 kg it proved too heavy to use in clinical testing. A new conceptual foot architecture intended to reduce the weight of the final prototype is presented and optimized for LLTE. This foot consists of a rotational ankle joint with constant stiffness of 6.1 N·m/deg, a rigid structure extending 0.08 m from the ankle-knee axis, and a cantilever beam forefoot with bending stiffness 5.4 N·m2. A prototype was built using machined delrin for the rigid structure, three parallel extension springs offset along a constant radius cam from a pin joint ankle, and machined nylon as the beam forefoot. In preliminary testing, it was determined that, despite efforts to minimize weight and size, this particular design was still too heavy and bulky as a result of the extension springs to be used in extensive clinical testing. Future work will focus on reducing the weight further by replacing linear extension springs with flexural elements before commencing with the clinical study. |
| first_indexed | 2024-09-23T14:22:02Z |
| format | Article |
| id | mit-1721.1/120767 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T14:22:02Z |
| publishDate | 2019 |
| publisher | ASME International |
| record_format | dspace |
| spelling | mit-1721.1/1207672022-09-29T09:00:27Z Design and Preliminary Testing of a Prototype for Evaluating Lower Leg Trajectory Error as an Optimization Metric for Prosthetic Feet Olesnavage, Kathryn Winter, Amos G. MIT-SUTD Collaboration Massachusetts Institute of Technology. Department of Mechanical Engineering Olesnavage, Kathryn Winter, Amos G. This work presents the design and preliminary testing of a prosthetic foot prototype intended for evaluating a novel design objective for passive prosthetic feet, the Lower Leg Trajectory Error (LLTE). Thus far, all work regarding LLTE has been purely theoretical. The next step is to perform extensive clinical testing. An initial prototype consisting of rotational ankle and metatarsal joints with constant rotational stiffness was optimized and built, but at 2 kg it proved too heavy to use in clinical testing. A new conceptual foot architecture intended to reduce the weight of the final prototype is presented and optimized for LLTE. This foot consists of a rotational ankle joint with constant stiffness of 6.1 N·m/deg, a rigid structure extending 0.08 m from the ankle-knee axis, and a cantilever beam forefoot with bending stiffness 5.4 N·m2. A prototype was built using machined delrin for the rigid structure, three parallel extension springs offset along a constant radius cam from a pin joint ankle, and machined nylon as the beam forefoot. In preliminary testing, it was determined that, despite efforts to minimize weight and size, this particular design was still too heavy and bulky as a result of the extension springs to be used in extensive clinical testing. Future work will focus on reducing the weight further by replacing linear extension springs with flexural elements before commencing with the clinical study. Massachusetts Institute of Technology. Tata Center for Technology and Design Massachusetts Institute of Technology. Department of Mechanical Engineering 2019-03-07T12:02:45Z 2019-03-07T12:02:45Z 2016-08 2019-01-11T13:52:17Z Article http://purl.org/eprint/type/ConferencePaper 978-0-7918-5015-2 http://hdl.handle.net/1721.1/120767 Olesnavage, Kathryn M., and Amos G. Winter. “Design and Preliminary Testing of a Prototype for Evaluating Lower Leg Trajectory Error as an Optimization Metric for Prosthetic Feet.” Volume 5A: 40th Mechanisms and Robotics Conference (August 21, 2016). https://orcid.org/0000-0002-2940-2383 https://orcid.org/0000-0002-4151-0889 http://dx.doi.org/10.1115/DETC2016-60565 Volume 5A: 40th Mechanisms and Robotics Conference Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. application/pdf ASME International ASME |
| spellingShingle | Olesnavage, Kathryn Winter, Amos G. Design and Preliminary Testing of a Prototype for Evaluating Lower Leg Trajectory Error as an Optimization Metric for Prosthetic Feet |
| title | Design and Preliminary Testing of a Prototype for Evaluating Lower Leg Trajectory Error as an Optimization Metric for Prosthetic Feet |
| title_full | Design and Preliminary Testing of a Prototype for Evaluating Lower Leg Trajectory Error as an Optimization Metric for Prosthetic Feet |
| title_fullStr | Design and Preliminary Testing of a Prototype for Evaluating Lower Leg Trajectory Error as an Optimization Metric for Prosthetic Feet |
| title_full_unstemmed | Design and Preliminary Testing of a Prototype for Evaluating Lower Leg Trajectory Error as an Optimization Metric for Prosthetic Feet |
| title_short | Design and Preliminary Testing of a Prototype for Evaluating Lower Leg Trajectory Error as an Optimization Metric for Prosthetic Feet |
| title_sort | design and preliminary testing of a prototype for evaluating lower leg trajectory error as an optimization metric for prosthetic feet |
| url | http://hdl.handle.net/1721.1/120767 https://orcid.org/0000-0002-2940-2383 https://orcid.org/0000-0002-4151-0889 |
| work_keys_str_mv | AT olesnavagekathryn designandpreliminarytestingofaprototypeforevaluatinglowerlegtrajectoryerrorasanoptimizationmetricforprostheticfeet AT winteramosg designandpreliminarytestingofaprototypeforevaluatinglowerlegtrajectoryerrorasanoptimizationmetricforprostheticfeet |