A unique, robust, robotic transtibial prosthesis with regenerative kinetics was successfully built and a 6-month human subject trial was conducted on one male below-the-knee amputee under linear walking conditions. This paper presents the quasistatic system modeling, DC motor and transmission modeling and analyses, design methodology, and model verification. It also outlines an approach to the design and development of a robotic transtibial prosthesis. The test data will show that the true power and energy requirement predicted in the modeling and analyses is in good agreement with the measured data, verifying that the approach satisfactorily captures the physical system. The modeling and analyses in this paper describes a process to determine an optimal combination of motors, springs, gearboxes, and rotary to linear transmissions to significantly minimize the power and energy consumption. This kinetic minimization allows the downsizing of the actuation system and the battery required for daily use to a self-portable level.
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e-mail: Joseph.Hitt@usma.edu
e-mail: thomas.sugar@asu.edu
e-mail: matthew.holgate@asu.edu
e-mail: Ryan.Bellman@asu.edu
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March 2010
Research Papers
An Active Foot-Ankle Prosthesis With Biomechanical Energy Regeneration
Joseph K. Hitt,
Joseph K. Hitt
Department of Civil and Mechanical Engineering, West Point, New York, NY 10996
e-mail: Joseph.Hitt@usma.edu
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Thomas G. Sugar,
Thomas G. Sugar
Mechanical and Aerospace Engineering, P. O. Box 876106, Tempe, AZ 85283
e-mail: thomas.sugar@asu.edu
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Matthew Holgate,
Matthew Holgate
Mechanical and Aerospace Engineering, P. O. Box 876106, Tempe, AZ 85283
e-mail: matthew.holgate@asu.edu
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Ryan Bellman
Ryan Bellman
Mechanical and Aerospace Engineering, P. O. Box 876106, Tempe, AZ 85283
e-mail: Ryan.Bellman@asu.edu
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Joseph K. Hitt
Department of Civil and Mechanical Engineering, West Point, New York, NY 10996
e-mail: Joseph.Hitt@usma.edu
Thomas G. Sugar
Mechanical and Aerospace Engineering, P. O. Box 876106, Tempe, AZ 85283
e-mail: thomas.sugar@asu.edu
Matthew Holgate
Mechanical and Aerospace Engineering, P. O. Box 876106, Tempe, AZ 85283
e-mail: matthew.holgate@asu.edu
Ryan Bellman
Mechanical and Aerospace Engineering, P. O. Box 876106, Tempe, AZ 85283
e-mail: Ryan.Bellman@asu.edu
J. Med. Devices. Mar 2010, 4(1): 011003 (9 pages)
Published Online: March 26, 2010
Article history
Received:
August 19, 2009
Revised:
January 22, 2010
Online:
March 26, 2010
Published:
March 26, 2010
Citation
Hitt, J. K., Sugar, T. G., Holgate, M., and Bellman, R. (March 26, 2010). "An Active Foot-Ankle Prosthesis With Biomechanical Energy Regeneration." ASME. J. Med. Devices. March 2010; 4(1): 011003. https://doi.org/10.1115/1.4001139
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