The Biomechatronics Group is developing transtibial prostheses that produce net mechanical work. Such prostheses can restore an important component of biological ankle function for lower-extremity amputees.
Powered ankle–foot prosthesis improves walking metabolic economy
At moderate to fast walking speeds, the human ankle provides net positive work at high-mechanical-power output to propel the body upward and forward during the stance period. On the contrary, conventional ankle–foot prostheses exhibit a passive-elastic response during stance, and consequently, cannot provide net work. Clinical studies indicate that transtibial amputees using conventional prostheses have higher gait metabolic rates than normal. Researchers believe that the main cause for these higher rates is due to the inability of conventional prostheses to provide sufficient positive power at terminal stance in the trailing leg to limit heel strike losses of the adjacent leading leg. In this investigation, we evaluate the hypothesis that a powered ankle–foot prosthesis, capable of providing human-like ankle work and power during stance, can decrease the metabolic cost of transport (COT) compared to a conventional passive-elastic prosthesis. To test the hypothesis, a powered prosthesis is built that comprises a unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. The prosthesis is shown to deliver the high mechanical power and net positive work observed in normal human walking. The rate of oxygen consumption and carbon dioxide production is measured as a determinant of metabolic rate on three unilateral transtibial amputees walking at self-selected speeds. We find that the powered prosthesis decreases the amputee’s metabolic COT on average by 14% compared to the conventional passive-elastic prostheses evaluated (Flex-Foot Ceterus R and Freedom Innovations Sierra), even though the powered system is over twofold heavier than the conventional devices. These results highlight the clinical importance of prosthetic interventions that closely mimic the mass distribution, kinetics, and kinematics of the missing limb.
S. Au, J. Weber, and H. M. Herr.
Powered Ankle-Foot Prosthesis Improves Walking Metabolic Economy,
IEEE Trans. Robotics, 2009.
Powered ankle-foot prosthesis
The human ankle provides a significant amount of net positive work during the stance period of walking, especially at moderate to fast walking speeds. Conversely, conventional ankle-foot prostheses are completely passive during stance, and consequently, cannot provide net positive work. Clinical studies indicate that transtibial amputees using conventional prostheses experience many problems during locomotion, including a high gait metabolism, a low gait speed, and gait asymmetry. Researchers believe the main cause for the observed locomotion is due to the inability of conventional prostheses to provide net positive work during stance. The objective of this project is to develop a powered ankle-foot prosthesis that is capable of providing net positive work during the stance period of walking. To this end, we are investigating the mechanical design and control system architectures for the prosthesis. We are also conducting a clinical evaluation of the proposed prosthesis on different amputee participants.
S. K. Au, and H. M. Herr.
Powered ankle-foot prosthesis,
IEEE R & A Magazine, 2008.