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The AMP-Foot 2.1 : actuator design, control and experiments with an amputee

Published online by Cambridge University Press:  02 September 2014

Pierre Cherelle ,
Karen Junius ,
Victor Grosu ,
Heidi Cuypers ,
Bram Vanderborght  and
Dirk Lefeber
Pierre Cherelle*
Affiliation:
Mechanical Engineering Department, Vrije Universiteit Brussel, Brussels, Belgium
Karen Junius
Affiliation:
Mechanical Engineering Department, Vrije Universiteit Brussel, Brussels, Belgium
Victor Grosu
Affiliation:
Mechanical Engineering Department, Vrije Universiteit Brussel, Brussels, Belgium
Heidi Cuypers
Affiliation:
Mechanical Engineering Department, Vrije Universiteit Brussel, Brussels, Belgium
Bram Vanderborght
Affiliation:
Mechanical Engineering Department, Vrije Universiteit Brussel, Brussels, Belgium
Dirk Lefeber
Affiliation:
Mechanical Engineering Department, Vrije Universiteit Brussel, Brussels, Belgium
*
*Corresponding author. E-mail: [email protected]
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Summary

The Ankle Mimicking Prosthetic (AMP-) Foot 2 is a new energy efficient, powered transtibial prosthesis mimicking intact ankle behavior. The author's research is focused on the use of a low power actuator which stores energy in springs during the complete stance phase. At push-off, this energy can be released hereby providing propulsion forces and torques to the amputee. With the use of the so-called catapult actuator, the size and weight of the drive can be decreased compared to state-of-the-art powered prostheses, while still providing the full power necessary for walking.

In this article, the authors present a detailed description of the catapult actuator followed by a comparison with existing actuator technology in powered prosthetic feet with regard to torque and power requirements. The implication on the actuator's design will then be outlined. Further, a description of the control strategy behind the AMP-Foot 2 and 2.1 will be given. In the last section of the article, the actuation principle and control are illustrated by experimental validation with a transfemoral amputee. Conclusions and future work complete the paper.

Keywords

ProstheticsTranstibialRoboticsAMP-FootRehabilitation
Type
Articles
Information
Robotica , Volume 32 , Issue 8: Rehabilitation Robotics and Human-Robot Interaction , December 2014 , pp. 1347 - 1361
Copyright
Copyright © Cambridge University Press 2014 

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