This paper presents the design and modelling of a new powered ankle prosthesis which combines electrohydrostatic actuation with a controllable passive damper. The new powered ankle prosthesis can switch quickly between passive mode and powered assistance mode, and is intended to just give assistance at certain points within the gait cycles, such as during toe push-off. The design concept and a prototype built to demonstrate the concept are presented. A simulation model was developed to help analyse the performance characteristics. The structure and parameterisation of the simulation model are described. A comparison between simulation results and experiment results is undertaken in order to validate the model and assist in the optimisation of the design. Some results from an initial trial with amputees are included in the paper. According to subjective feedback from the amputees, the new powered ankle prosthesis provides sufficient force at push-off to assist with walking. Future investigations will be focusing on the compactness, weight reduction and control of the powered ankle prosthesis.
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ASME/BATH 2015 Symposium on Fluid Power and Motion Control
October 12–14, 2015
Chicago, Illinois, USA
Conference Sponsors:
- Fluid Power Systems and Technology Division
ISBN:
978-0-7918-5723-6
PROCEEDINGS PAPER
The Design of a Powered Ankle Prosthesis With Electrohydrostatic Actuation Available to Purchase
Andrew Plummer,
Andrew Plummer
University of Bath, Bath, UK
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Pejman Iravani,
Pejman Iravani
University of Bath, Bath, UK
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Jawaad Bhatti
Jawaad Bhatti
Chas A Blatchford & Sons Ltd., Basingstoke, UK
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Tian Yu
University of Bath, Bath, UK
Andrew Plummer
University of Bath, Bath, UK
Pejman Iravani
University of Bath, Bath, UK
Jawaad Bhatti
Chas A Blatchford & Sons Ltd., Basingstoke, UK
Paper No:
FPMC2015-9573, V001T01A041; 6 pages
Published Online:
January 11, 2016
Citation
Yu, T, Plummer, A, Iravani, P, & Bhatti, J. "The Design of a Powered Ankle Prosthesis With Electrohydrostatic Actuation." Proceedings of the ASME/BATH 2015 Symposium on Fluid Power and Motion Control. ASME/BATH 2015 Symposium on Fluid Power and Motion Control. Chicago, Illinois, USA. October 12–14, 2015. V001T01A041. ASME. https://doi.org/10.1115/FPMC2015-9573
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