0
Research Papers

Design of an Active Ankle-Foot Prosthesis Utilizing a Four-Bar Mechanism

[+] Author and Article Information
Bryan J. Bergelin

Department of Mechanical Engineering,  Marquette University, Milwaukee, WI 53233bryan.bergelin@nasa.gov

Philip A. Voglewede

Department of Mechanical Engineering,  Marquette University, Milwaukee, WI 53233philip.voglewede@marquette.edu

J. Mech. Des 134(6), 061004 (May 02, 2012) (7 pages) doi:10.1115/1.4006436 History: Received August 25, 2010; Revised March 08, 2012; Published April 30, 2012; Online May 02, 2012

This article discusses the design and testing of a powered ankle prosthesis. This new prosthesis mimics nonamputee (normal) ankle moments during the stance phase of gait through the use of an optimized spring loaded four-bar mechanism. A prototype prosthesis based on the optimization was designed, fabricated, and tested. The experimental results achieved 93.3% of the simulated theoretical ankle moment giving substantial evidence that this approach is a viable in designing powered ankle prostheses.

FIGURES IN THIS ARTICLE
<>
Copyright © 2012 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

Moment versus gait cycle with ±1 standard deviation through consecutive heel strikes of the same foot. Raw data are from Ref. [4].

Grahic Jump Location
Figure 2

Model of the four-bar prosthesis configuration, where C is the location of the spring/motor and l0 through l3 are links of the four-bar mechanism

Grahic Jump Location
Figure 3

Normal ankle stiffness plotted with the latest four-bar optimum for stance phase of gait. Raw data are from Ref. [4].

Grahic Jump Location
Figure 4

Motion simulation model with motor inertia disk not shown

Grahic Jump Location
Figure 5

Link 2 FEA modification. Units are in Pascals. Although the scales are the same in color, the values associated with each are lower for the modified link.

Grahic Jump Location
Figure 6

The prosthesis fully assembled mounted to the bench testing foot plate and testing pylon

Grahic Jump Location
Figure 7

Reaction force comparison for the new prosthesis (spring only/motor turned off) prosthesis reaction force data fit with a polynomial of order 10

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In