Pace, Anna, Gardiner, James 
ORCID: 0000-0003-1902-3416, Kenney, Laurence and Howard, David
(2022)
Simulated Performance of an Energy Storage and Return Prosthetic Ankle Based on Cams and Miniature Hydraulics.
IEEE Transactions on Medical Robotics and Bionics, 4 (1).
pp. 230-240.
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Pace et al. - 2022 - Simulated performance of an energy storage and return prosthetic ankle based on cams and miniature hydraulics.pdf - Author Accepted Manuscript Download (1MB) | Preview |
Abstract
Prosthetic feet are limited in their ability to mimic the energy-recycling behavior of an intact ankle, negatively affecting lower-limb amputees' gait in terms of metabolic cost and walking speed. To overcome these weaknesses, a novel prosthetic ankle based on hydraulics is described here. The ankle joint drives two cams, which in turn drive two hydraulic rams. One cam-ram system captures the negative work done from foot-flat until maximum dorsiflexion, by pumping oil into an accumulator, while the other returns positive work during push-off providing forward propulsion through fluid flowing from the accumulator to the ram. Simulation results are promising: of the total negative work done by the prosthetic ankle over the gait cycle (i.e., the maximum amount of energy available to be stored), 78% is returned, mainly during push-off; 14% is carried forward for future gait cycles; and 8% is lost. The estimated prosthesis height and mass are approximately {26}.{5} {cm} and {2}.{3} {kg}. Nonetheless, further work is necessary to realise a prototype for bench and in-vivo testing. By mimicking intact ankle torque and efficiently storing and returning energy at the ankle joint, this new design may contribute to reducing amputees' metabolic cost of walking.
| Item Type: | Article |
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| Uncontrolled Keywords: | Ankle, cam, hydraulics, prosthetics, simulation |
| Divisions: | Faculty of Health and Life Sciences Faculty of Health and Life Sciences > Institute of Life Courses and Medical Sciences |
| Depositing User: | Symplectic Admin |
| Date Deposited: | 11 Mar 2022 11:12 |
| Last Modified: | 17 Mar 2024 13:30 |
| DOI: | 10.1109/tmrb.2022.3146628 |
| Related URLs: | |
| URI: | https://livrepository.liverpool.ac.uk/id/eprint/3150591 |
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