E. A. Rogers, M. E. Carney, S. H. Yeon, T. R. Clites, D. Solav and H. M. Herr, "An Ankle-Foot Prosthesis for Rock Climbing Augmentation," in IEEE Transactions on Neural Systems and Rehabilitation Engineering, doi: 10.1109/TNSRE.2020.3033474.

Abstract

This research presents the design and preliminary evaluation of an electromyographically (EMG) controlled 2-degree-of-freedom (DOF) ankle-foot prosthesis designed to enhance rock climbing ability in persons with transtibial amputation. The prosthesis comprises motorized ankle and subtalar joints, and is capable of emulating some key biomechanical behaviors exhibited by the anklefoot complex during rock climbing maneuvers. The free space motion of the device is volitionally controlled via input from EMG surface electrodes embedded in a custom silicone liner worn on the residual limb. The device range of motion is 0.29 radians of each dorsiflexion and plantar flexion, and 0.39 radians each of inversion and eversion. Preliminary evaluation of the device was conducted, validating the system mass of 1292 grams, build height of 250 mm, joint velocity of 2.18 radians/second, settling time of 120 milliseconds, and steady state error of 0.008 radians. Clinical evaluation of the device was performed during a preliminary study with one subject with transtibial amputation. Joint angles of the ankle-foot, knee, and hip were measured during rock climbing with the robotic prosthesis and with a traditional passive prosthesis. We found that the robotic prosthesis increases the range of achieved ankle and subtalar positions compared to a standard passive prosthesis. In addition, maximum knee flexion and hip flexion angles are decreased while climbing with the robotic prosthesis. These results suggest that a lightweight, actuated, 2-DOF EMG-controlled robotic ankle-foot prosthesis can improve ankle and subtalar range of motion and climbing biomechanical function.