Design, Characterization, and Preliminary Assessment of a Two-Degree-of-Freedom Powered Ankle–Foot Prosthesis
Powered ankle prostheses have been proven to improve the walking economy of people with transtibial amputation. All commercial powered ankle prostheses that are currently available can only perform one-degree-of-freedom motion in a limited range. However, studies have shown that the frontal plane mo...
| Main Authors: | , , , , , , , , |
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| Format: | Article |
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MDPI AG
2024
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| Online Access: | https://hdl.handle.net/1721.1/153564 |
| _version_ | 1826211745415299072 |
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| author | Hsieh, Tsung-Han Song, Hyungeun Shu, Tony Qiao, Junqing Yeon, Seong Ho Carney, Matthew Mooney, Luke Duval, Jean-François Herr, Hugh |
| author2 | Program in Media Arts and Sciences (Massachusetts Institute of Technology) |
| author_facet | Program in Media Arts and Sciences (Massachusetts Institute of Technology) Hsieh, Tsung-Han Song, Hyungeun Shu, Tony Qiao, Junqing Yeon, Seong Ho Carney, Matthew Mooney, Luke Duval, Jean-François Herr, Hugh |
| author_sort | Hsieh, Tsung-Han |
| collection | MIT |
| description | Powered ankle prostheses have been proven to improve the walking economy of people with transtibial amputation. All commercial powered ankle prostheses that are currently available can only perform one-degree-of-freedom motion in a limited range. However, studies have shown that the frontal plane motion during ambulation is associated with balancing. In addition, as more advanced neural interfaces have become available for people with amputation, it is possible to fully recover ankle function by combining neural signals and a robotic ankle. Accordingly, there is a need for a powered ankle prosthesis that can have active control on not only plantarflexion and dorsiflexion but also eversion and inversion. We designed, built, and evaluated a two-degree-of-freedom (2-DoF) powered ankle–foot prosthesis that is untethered and can support level-ground walking. Benchtop tests were conducted to characterize the dynamics of the system. Walking trials were performed with a 77 kg subject that has unilateral transtibial amputation to evaluate system performance under realistic conditions. Benchtop tests demonstrated a step response rise time of less than 50 milliseconds for a torque of 40 N·m on each actuator. The closed-loop torque bandwidth of the actuator is 9.74 Hz. Walking trials demonstrated torque tracking errors (root mean square) of less than 7 N·m. These results suggested that the device can perform adequate torque control and support level-ground walking. This prosthesis can serve as a platform for studying biomechanics related to balance and has the possibility of further recovering the biological function of the ankle–subtalar–foot complex beyond the existing powered ankles. |
| first_indexed | 2024-09-23T15:10:46Z |
| format | Article |
| id | mit-1721.1/153564 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T15:10:46Z |
| publishDate | 2024 |
| publisher | MDPI AG |
| record_format | dspace |
| spelling | mit-1721.1/1535642024-09-20T19:27:07Z Design, Characterization, and Preliminary Assessment of a Two-Degree-of-Freedom Powered Ankle–Foot Prosthesis Hsieh, Tsung-Han Song, Hyungeun Shu, Tony Qiao, Junqing Yeon, Seong Ho Carney, Matthew Mooney, Luke Duval, Jean-François Herr, Hugh Program in Media Arts and Sciences (Massachusetts Institute of Technology) Molecular Medicine Biomedical Engineering Biochemistry Biomaterials Bioengineering Biotechnology Powered ankle prostheses have been proven to improve the walking economy of people with transtibial amputation. All commercial powered ankle prostheses that are currently available can only perform one-degree-of-freedom motion in a limited range. However, studies have shown that the frontal plane motion during ambulation is associated with balancing. In addition, as more advanced neural interfaces have become available for people with amputation, it is possible to fully recover ankle function by combining neural signals and a robotic ankle. Accordingly, there is a need for a powered ankle prosthesis that can have active control on not only plantarflexion and dorsiflexion but also eversion and inversion. We designed, built, and evaluated a two-degree-of-freedom (2-DoF) powered ankle–foot prosthesis that is untethered and can support level-ground walking. Benchtop tests were conducted to characterize the dynamics of the system. Walking trials were performed with a 77 kg subject that has unilateral transtibial amputation to evaluate system performance under realistic conditions. Benchtop tests demonstrated a step response rise time of less than 50 milliseconds for a torque of 40 N·m on each actuator. The closed-loop torque bandwidth of the actuator is 9.74 Hz. Walking trials demonstrated torque tracking errors (root mean square) of less than 7 N·m. These results suggested that the device can perform adequate torque control and support level-ground walking. This prosthesis can serve as a platform for studying biomechanics related to balance and has the possibility of further recovering the biological function of the ankle–subtalar–foot complex beyond the existing powered ankles. 2024-02-23T18:31:23Z 2024-02-23T18:31:23Z 2024-01-26 2024-02-23T15:03:32Z Article http://purl.org/eprint/type/JournalArticle 2313-7673 https://hdl.handle.net/1721.1/153564 Hsieh, T.-H.; Song, H.; Shu, T.; Qiao, J.; Yeon, S.H.; Carney, M.; Mooney, L.; Duval, J.-F.; Herr, H. Design, Characterization, and Preliminary Assessment of a Two-Degree-of-Freedom Powered Ankle–Foot Prosthesis. Biomimetics 2024, 9, 76. PUBLISHER_CC 10.3390/biomimetics9020076 Biomimetics Creative Commons Attribution https://creativecommons.org/licenses/by/4.0/ application/pdf MDPI AG Multidisciplinary Digital Publishing Institute |
| spellingShingle | Molecular Medicine Biomedical Engineering Biochemistry Biomaterials Bioengineering Biotechnology Hsieh, Tsung-Han Song, Hyungeun Shu, Tony Qiao, Junqing Yeon, Seong Ho Carney, Matthew Mooney, Luke Duval, Jean-François Herr, Hugh Design, Characterization, and Preliminary Assessment of a Two-Degree-of-Freedom Powered Ankle–Foot Prosthesis |
| title | Design, Characterization, and Preliminary Assessment of a Two-Degree-of-Freedom Powered Ankle–Foot Prosthesis |
| title_full | Design, Characterization, and Preliminary Assessment of a Two-Degree-of-Freedom Powered Ankle–Foot Prosthesis |
| title_fullStr | Design, Characterization, and Preliminary Assessment of a Two-Degree-of-Freedom Powered Ankle–Foot Prosthesis |
| title_full_unstemmed | Design, Characterization, and Preliminary Assessment of a Two-Degree-of-Freedom Powered Ankle–Foot Prosthesis |
| title_short | Design, Characterization, and Preliminary Assessment of a Two-Degree-of-Freedom Powered Ankle–Foot Prosthesis |
| title_sort | design characterization and preliminary assessment of a two degree of freedom powered ankle foot prosthesis |
| topic | Molecular Medicine Biomedical Engineering Biochemistry Biomaterials Bioengineering Biotechnology |
| url | https://hdl.handle.net/1721.1/153564 |
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