title: Ankle-Knee prosthesis with powered ankle and energy transfer for CYBERLEGs α-prototype.
abstract: Restoring natural walking for amputees has been increasingly investigated because of demographic evolution, leading to increased number of amputations, and increasing demand for independence. The energetic disadvantages of passive pros-theses are clear, and active prostheses are limited in autonomy. This paper presents the simulation, design and development of an actuated knee-ankle prosthesis based on a variable stiffness actuator with energy transfer from the knee to the ankle. This approach allows a good approximation of the joint torques and the kinematics of the human gait cycle while maintaining compliant joints and reducing energy consumption during level walking. This first prototype consists of a passive knee and an active ankle, which are energetically coupled to reduce the power consumption.
authors.forename: J
authors.initials: J
authors.lastname: Geeroms
authors.forename: L
authors.initials: L
authors.lastname: Flynn
authors.forename: R
authors.initials: R
authors.lastname: Jimenez-Fabian
authors.forename: B
authors.initials: B
authors.lastname: Vanderborght
authors.forename: D
authors.initials: D
authors.lastname: Lefeber
mesh_terms: D000465:Algorithms; D000674:Amputees / Q000534:rehabilitation*; D001186:Artificial Limbs; D001696:Biomechanical Phenomena; D004735:Energy Transfer; D006801:Humans; D011474:Prosthesis Design / Q000295:instrumentation* / Q000379:methods; D019415:Torque; D016138:Walking