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Design of a powered ankle-foot prosthesis with an adjustable stiffness toe joint

文献类型：期刊论文

作者She, Haotian3,4; Zhu, Jinying1,2; Tian, Ye3,4; Wang, Yanchao3,4; Huang, Qiang3,4
刊名ADVANCED ROBOTICS
出版日期2020-04-07
页码9
关键词Powered ankle-foot prosthesis series elastic actuator ankle joint toe joint
ISSN号0169-1864
DOI10.1080/01691864.2020.1750479
通讯作者Tian, Ye(tianye7248@bit.edu.cn)
英文摘要This paper proposes a powered ankle-foot prosthesis called PANTOE II, which includes an ankle and a segmented foot with a toe joint. The ankle and toe joints are both driven by series elastic actuators, which can reduce the required velocity and energy consumption of the actuators. The mechanical design of the ankle and toe joints makes the prosthesis more compact. In addition, PANTOE II employs a more human-like foot, which includes the heel, the mid foot, and the toe. Both the heel and the toe are made of leaf springs, and the mid foot is used to install the transmission mechanisms. The finite state control strategy is used for controlling the prosthesis. To evaluate the basic performance of PANTOE II, experiments are conducted on a subject with a transtibial amputation. Wearing PANTOE II, the amputee feels more comfortable and presents more symmetrical walking gaits.
WOS关键词TRANSTIBIAL PROSTHESIS ; WALKING ; LEVEL
资助项目Beijing Advanced Innovation Center of Intelligent Robots and Systems[2016IRS23]
WOS研究方向Robotics
语种英语
WOS记录号WOS:000526475100001
出版者TAYLOR & FRANCIS LTD
资助机构Beijing Advanced Innovation Center of Intelligent Robots and Systems
源URL[http://ir.ia.ac.cn/handle/173211/38874]  
专题精密感知与控制研究中心_精密感知与控制
通讯作者Tian, Ye
作者单位1.Beijing Adv Innovat Ctr Intelligent Robot & Syst, Beijing, Peoples R China
2.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China
3.Minist Educ, Key Lab Biomimet Robots & Syst, Beijing 100081, Peoples R China
4.Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China
推荐引用方式
GB/T 7714		 She, Haotian,Zhu, Jinying,Tian, Ye,et al. Design of a powered ankle-foot prosthesis with an adjustable stiffness toe joint[J]. ADVANCED ROBOTICS,2020:9.
APA She, Haotian,Zhu, Jinying,Tian, Ye,Wang, Yanchao,&Huang, Qiang.(2020).Design of a powered ankle-foot prosthesis with an adjustable stiffness toe joint.ADVANCED ROBOTICS,9.
MLA She, Haotian,et al."Design of a powered ankle-foot prosthesis with an adjustable stiffness toe joint".ADVANCED ROBOTICS (2020):9.

入库方式： OAI收割

来源：自动化研究所

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