Development and Evaluation of a Powered Artificial Gastrocnemius for Transtibial Amputee Gait
Joint Authors
Eilenberg, Michael F.
Kuan, Jiun-Yih
Herr, Hugh
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-01-22
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
Existing robotic transtibial prostheses provide only ankle joint actuation and do not restore biarticular function of the gastrocnemius muscle.
This paper presents the first powered biarticular transtibial prosthesis, which is a combination of a commercial powered ankle-foot prosthesis and a motorized robotic knee orthosis.
The orthosis is controlled to emulate the human gastrocnemius based on neuromuscular models of matched nonamputees.
Together with the ankle-foot prosthesis, the devices provide biarticular actuation.
We evaluate differences between this biarticular condition and a monoarticular condition with the orthosis behaving as a free-joint.
Six participants with transtibial amputation walk with the prosthesis on a treadmill while motion, force, and metabolic data are collected and analyzed for differences between conditions.
The biarticular prosthesis reduces affected-side biological knee flexion moment impulse and hip positive work during late-stance knee flexion, compared to the monoarticular condition.
The data do not support our hypothesis that metabolism decreases for all participants, but some participants demonstrate large metabolic reductions with the biarticular condition.
These preliminary results suggest that a powered artificial gastrocnemius may be capable of providing large metabolic reductions compared to a monoarticular prosthesis, but further study is warranted to determine an appropriate controller for achieving more consistent metabolic benefits.
American Psychological Association (APA)
Eilenberg, Michael F.& Kuan, Jiun-Yih& Herr, Hugh. 2018. Development and Evaluation of a Powered Artificial Gastrocnemius for Transtibial Amputee Gait. Journal of Robotics،Vol. 2018, no. 2018, pp.1-15.
https://search.emarefa.net/detail/BIM-1197840
Modern Language Association (MLA)
Eilenberg, Michael F.…[et al.]. Development and Evaluation of a Powered Artificial Gastrocnemius for Transtibial Amputee Gait. Journal of Robotics No. 2018 (2018), pp.1-15.
https://search.emarefa.net/detail/BIM-1197840
American Medical Association (AMA)
Eilenberg, Michael F.& Kuan, Jiun-Yih& Herr, Hugh. Development and Evaluation of a Powered Artificial Gastrocnemius for Transtibial Amputee Gait. Journal of Robotics. 2018. Vol. 2018, no. 2018, pp.1-15.
https://search.emarefa.net/detail/BIM-1197840
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1197840