Design optimization of powered ankle prosthesis to reduce peak power requirement

The aim of the prosthetic devices is to replicate the able-bodied angle-torque profile of a healthy human during locomotion. A lightweight and energy-efficient ankle joint is able to lower the actuator peak power and/or energy consumption per gait cycle, while adequately fulfilling the profile match...

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Bibliographic Details
Published in:Science progress (1916) 2022-07, Vol.105 (3), p.368504221117895-368504221117895
Main Authors: Bilal, Muhammad, Rizwan, Mohsin, Maqbool, Hafiz Farhan, Ahsan, Muhammad, Raza, Ali
Format: Article
Language:English
Subjects:
Actuators
Ankle
Artificial Limbs
Biomechanical Phenomena
Design optimization
Elastic limit
Energy consumption
Energy efficiency
Gait
Humans
Locomotion
Original Manuscript
Plantar flexion
Power management
Prostheses
Prosthetics
Torque
Walking
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Summary:The aim of the prosthetic devices is to replicate the able-bodied angle-torque profile of a healthy human during locomotion. A lightweight and energy-efficient ankle joint is able to lower the actuator peak power and/or energy consumption per gait cycle, while adequately fulfilling the profile matching constraints. This study presents the design optimization of the prosthetic ankle joint containing an elastic element and actuator coupled with a rigid triangular part. The dimensions of the ankle joint triangular part were optimized to minimize actuator peak power and maximize spring energy within its elastic limits. As a result of series simulation tests, at 1.1 and 1.6 m/s walking speeds, the simulation of dorsi/plantar flexion shows up to 78.8% and 66.98% reduction in motor peak power compared to a direct drive system, respectively. Low power ankle-prosthetic device that closely matches the angle-torque profile of a healthy human’s ankle, is one of the key parameters for the cost-effectiveness of lower limb prostheses.
ISSN:0036-8504
2047-7163
DOI:10.1177/00368504221117895