Emulation of Ankle Function for Different Gaits through Active Foot Prosthesis

A main efort has been devoted in this work to consider the effects of the actuator components (i.e. springs, dampers and motors) and their configuration (i.e. the way they are assembled) in power and energy requirement of powered foot prostheses. It has been investigated which actuation mechanism would have the least requirements to perform a certain human gait (e.g. walking, running, ascending or descending the stairs). This work shows that the components of the robotic foot and their configurations are important design factors. This information is fundamental for building mechanical prototypes of active foot prostheses.

Autorentext

Mahdy Eslamy received his B.Sc. and M.Sc. degrees from IUST and KNTU in Mechanical Engineering in Iran. He was previouslya member of ARAS laboratory in KNTU. For his PhD, he joined Lauflabor to pursue his studies on rehabilitation robotics and control of artificial muscles. His main works are around control and mechanism design and analysis.