Robotic Ankle-Foot Prosthesis

 In this project I am developing a powered two degree of freedom robotic ankle-foot prosthesis capable of dorsiflexion-plantarflexion and inversion-eversion. Unlike most existing powered prosthesis this device is more promising for regaining an agile gait which is lost after amputation. The actuation system is held in a fanny pack around the waist and it connects to the prosthesis using Bowden cables, allowing for optimized actuator placement while tailored to the user’s preference. I do research on the walking control system, sensor integration and computing modules of the ankle foot prosthesis. It is using adaptive impedance control schemes to adjust the ankle impedance during walking and other activities of daily living.

Specifications

Human-Interactive Robotics Lab (HIRoLab)

Human-Interactive Robotics Lab (HIRoLab)

  • Sagittal and Lateral plane degrees of freedom
  • Range of motion: ± 40 degrees
  • Maxon EC-4 pole brushless DC motor
  • E4T OEM Miniature Optical Encoder from US Digital
  • Strain gauges at the foot sole
  • Control sample rate 1 kHz
 

Trying the untethered developed prosthesis hardware

 
copyright hirolab (2016)

copyright hirolab (2016)