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Title Design of a Transtibial Prosthesis Utilizing Active and Passive Components in Conjunction with a Four-Bar Mechanism
Publication Date
University/Publisher Marquette University
Abstract This thesis outlines the design and testing of a powered ankle prosthesis which utilizes a four-bar mechanism in conjunction with a spiral torsion spring and a servo motor that mimics non-amputee (normal) ankle moments during the stance phase of gait. Previous research has shown that this novel approach is feasible, but the proof-of-concept prototype was not designed to be able to be worn by an amputee due to size, strength and mobility limitations. The goal of this research was to redesign the transtibial prosthesis to fit the requirements of the targeted amputee population. A preliminary virtual prosthesis was designed using a computer-aided engineering (CAE) program; it was then subjected to a dynamic motion simulation (equivalent to the bench testing standards) where reaction forces between components were recorded. A finite element analysis (FEA) was then performed on crucial components to ensure safety, aid in material selection, and reduce weight. With a thorough FEA complete, components of the prosthesis were machined, and then the prosthesis was constructed and bench tested for the foot-flat through toe-off portion of gait (stance phase). A prosthesis was designed, optimized, fabricated, and tested with the purpose of demonstrating its ability to match crucial ankle moments during the stance phase of gait.
Subjects/Keywords Active; Powered; Prosthesis; Robotic; Transtibial; Engineering; Robotics
Contributors Voglwede, Philip A., Schimmels, Joseph M., Long, Jason
Country of Publication us
Format application/pdf
Record ID oai:epublications.marquette.edu:theses_open-1051
Repository marquette
Date Retrieved
Date Indexed 2020-09-17

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…a combination of materials research and creative designs have improved passive element prostheses [20–25], greater success lies ahead for the prosthesis that utilizes active elements which would rival the efficacy of the human ankle. The…

…this prosthesis utilizes active components, it is still considered passive because it does not provide any extra “push-off” force during gait. The active components are used to position the ankle angle depending of the wearer’s walking patterns. The…

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…Ankle with Regenerative Kinetics, (headed by Thomas Sugar at Arizona State University) is a foot-ankle prosthesis designed for transtibial amputees, particularly those injured serving in the military who wish to be able to return to active

…iWALK Power Foot One/MIT Powered Ankle-Foot Prosthesis The MIT Powered Ankle-Foot Prosthesis (iWALK) is, by far, the most advanced/furthest along in development of active/passive prostheses. MIT Media 14 Lab’s Hugh Herr has been working on…

Prosthesis . . . . . . . . . . . . . . . . . . . . . Model of the Four-Bar Prosthesis . . . . . . . . . . . . . . Four-Bar Optimum With Energy penalty . . . . . . . . . . Best Four-Bar Optimal Match to the Ankle Stiffness Curve Lower Limb Prosthetic Device…

…Prototype. . . . . . . . . . Prosthesis in MTS Fixture . . . . . . . . . . . . . . . . . . Linear Displacement Plot for MTS Testing . . . . . . . . . Theoretical Vertical Reaction Force for 6-60% of Stride. . . Old Simulink Main Model…

…Old Simulink Subsystems . . . . . . . . . . . . . . . . . . Linear Velocity Comparison for 6-60% of Stride. . . . . . . Reaction Force Comparison for 6-60% of Stride. . . . . . . Prosthesis CAD Model Used in Motion Simulation. . . . . Simulation…