Design of a powered ankle-foot prosthesis with an adjustable stiffness toe joint

doi:10.1080/01691864.2020.1750479

CASIA OpenIR > 中科院工业视觉智能装备工程实验室 > 精密感知与控制

	Design of a powered ankle-foot prosthesis with an adjustable stiffness toe joint
	She, Haotian 1,2; Zhu, Jinying 3,4; Tian, Ye1,2 ; Wang, Yanchao 1,2; Huang, Qiang1,2
发表期刊	ADVANCED ROBOTICS
ISSN	0169-1864
	2020-04-07
页码	9
通讯作者	Tian, Ye(tianye7248@bit.edu.cn)
摘要	This paper proposes a powered ankle-foot prosthesis called PANTOE II, which includes an ankle and a segmented foot with a toe joint. The ankle and toe joints are both driven by series elastic actuators, which can reduce the required velocity and energy consumption of the actuators. The mechanical design of the ankle and toe joints makes the prosthesis more compact. In addition, PANTOE II employs a more human-like foot, which includes the heel, the mid foot, and the toe. Both the heel and the toe are made of leaf springs, and the mid foot is used to install the transmission mechanisms. The finite state control strategy is used for controlling the prosthesis. To evaluate the basic performance of PANTOE II, experiments are conducted on a subject with a transtibial amputation. Wearing PANTOE II, the amputee feels more comfortable and presents more symmetrical walking gaits.
关键词	Powered ankle-foot prosthesis series elastic actuator ankle joint toe joint
DOI	10.1080/01691864.2020.1750479
关键词[WOS]	TRANSTIBIAL PROSTHESIS ; WALKING ; LEVEL
收录类别	SCI
语种	英语
资助项目	Beijing Advanced Innovation Center of Intelligent Robots and Systems[2016IRS23]
项目资助者	Beijing Advanced Innovation Center of Intelligent Robots and Systems
WOS研究方向	Robotics
WOS类目	Robotics
WOS记录号	WOS:000526475100001
出版者	TAYLOR & FRANCIS LTD
引用统计	被引频次：4[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/38875
专题	中科院工业视觉智能装备工程实验室_精密感知与控制
通讯作者	Tian, Ye
作者单位	1.Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China 2.Minist Educ, Key Lab Biomimet Robots & Syst, Beijing 100081, Peoples R China 3.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China 4.Beijing Adv Innovat Ctr Intelligent Robot & Syst, Beijing, Peoples R China
推荐引用方式 GB/T 7714	She, Haotian,Zhu, Jinying,Tian, Ye,et al. Design of a powered ankle-foot prosthesis with an adjustable stiffness toe joint[J]. ADVANCED ROBOTICS,2020:9.
APA	She, Haotian,Zhu, Jinying,Tian, Ye,Wang, Yanchao,&Huang, Qiang.(2020).Design of a powered ankle-foot prosthesis with an adjustable stiffness toe joint.ADVANCED ROBOTICS,9.
MLA	She, Haotian,et al."Design of a powered ankle-foot prosthesis with an adjustable stiffness toe joint".ADVANCED ROBOTICS (2020):9.