Project

Instrumentation of a Biomimetic Ankle-Foot Prosthesis

Groups

Developing biologically inspired robotic prostheses necessitates precise understanding of the dynamic interaction between amputee, prosthesis, and the environment they act on. In our research, we are instrumenting a biomimetic ankle-foot powered prosthesis prototype with a series of sensory units to estimate the ground reaction forces (GRF) and zero moment point (ZMP) trajectory. The incorporation of this sensory information with a morphologically realistic human model and basic feedback methods will contribute to the development of balance-control strategies in the mentioned device. These strategies will enhance amputees� perception and control of their dynamic stability. With this new generation of robotic ankle-foot prostheses, we are addressing some of the main difficulties that amputees encounter with current passive devices, including non-symmetric gait, increased walking energy cost, and appropriate maintenance of balance during standing and walking.

Developing biologically inspired robotic prostheses necessitates precise understanding of the dynamic interaction between amputee, prosthesis, and the environment they act on. In our research, we are instrumenting a biomimetic ankle-foot powered prosthesis prototype with a series of sensory units to estimate the ground reaction forces (GRF) and zero moment point (ZMP) trajectory. The incorporation of this sensory information with a morphologically realistic human model and basic feedback methods will contribute to the development of balance-control strategies in the mentioned device. These strategies will enhance amputees� perception and control of their dynamic stability. With this new generation of robotic ankle-foot prostheses, we are addressing some of the main difficulties that amputees encounter with current passive devices, including non-symmetric gait, increased walking energy cost, and appropriate maintenance of balance during standing and walking.