Abstract
This paper describes a novel cable-driven ankle-foot mechanism with two controllable degrees of freedom (DOF) in dorsiflexion-plantarflexion (DP) and inversion-eversion (IE). The presented mechanism is a proof of concept to demonstrate feasibility. Ankle kinematic measurements demonstrate that ankle IE rotations during a step turn are significantly different from walking on a straight path. This suggests that the ankle-foot mechanisms used in prostheses, exoskeletons, and bipedal robots can be improved by controlling a second degree of freedom in the frontal plane. The proposed prototype mechanism is described in detail, and its design considerations and parameters are presented. The mechanism is capable of producing trajectories similar to the human ankle during a step turn. The device shows passive mechanical impedance close to the human ankle mechanical impedance, allowing its mechanical impedance to be controlled using an impedance controller. The presented mechanism is capable of providing key mechanical characteristics similar to the human ankle, including power, range of motion, and weight, suggesting the feasibility of this design concept.
| Original language | English (US) |
|---|---|
| Journal | Mathematische Zeitschrift |
| Volume | 1 |
| Issue number | 1 |
| DOIs | |
| State | Published - Nov 2 2014 |
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Keywords
- Ankle impedance
- Ankle mechanism
- Ankle rotations
- Cable-driven prosthesis
- Human ankle kinematics
- Multi-axis ankle-foot prosthesis
- Powered lower extremity prosthesis
- Turning
- Two-DOF ankle-foot
ASJC Scopus subject areas
- Mathematics(all)
Cite this
A two-axis cable-driven ankle-foot mechanism. / Ficanha, Evandro M.; Rastgaar, Mohammad; Kaufman, Kenton R.
In: Mathematische Zeitschrift, Vol. 1, No. 1, 02.11.2014.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - A two-axis cable-driven ankle-foot mechanism
AU - Ficanha, Evandro M.
AU - Rastgaar, Mohammad
AU - Kaufman, Kenton R
PY - 2014/11/2
Y1 - 2014/11/2
N2 - This paper describes a novel cable-driven ankle-foot mechanism with two controllable degrees of freedom (DOF) in dorsiflexion-plantarflexion (DP) and inversion-eversion (IE). The presented mechanism is a proof of concept to demonstrate feasibility. Ankle kinematic measurements demonstrate that ankle IE rotations during a step turn are significantly different from walking on a straight path. This suggests that the ankle-foot mechanisms used in prostheses, exoskeletons, and bipedal robots can be improved by controlling a second degree of freedom in the frontal plane. The proposed prototype mechanism is described in detail, and its design considerations and parameters are presented. The mechanism is capable of producing trajectories similar to the human ankle during a step turn. The device shows passive mechanical impedance close to the human ankle mechanical impedance, allowing its mechanical impedance to be controlled using an impedance controller. The presented mechanism is capable of providing key mechanical characteristics similar to the human ankle, including power, range of motion, and weight, suggesting the feasibility of this design concept.
AB - This paper describes a novel cable-driven ankle-foot mechanism with two controllable degrees of freedom (DOF) in dorsiflexion-plantarflexion (DP) and inversion-eversion (IE). The presented mechanism is a proof of concept to demonstrate feasibility. Ankle kinematic measurements demonstrate that ankle IE rotations during a step turn are significantly different from walking on a straight path. This suggests that the ankle-foot mechanisms used in prostheses, exoskeletons, and bipedal robots can be improved by controlling a second degree of freedom in the frontal plane. The proposed prototype mechanism is described in detail, and its design considerations and parameters are presented. The mechanism is capable of producing trajectories similar to the human ankle during a step turn. The device shows passive mechanical impedance close to the human ankle mechanical impedance, allowing its mechanical impedance to be controlled using an impedance controller. The presented mechanism is capable of providing key mechanical characteristics similar to the human ankle, including power, range of motion, and weight, suggesting the feasibility of this design concept.
KW - Ankle impedance
KW - Ankle mechanism
KW - Ankle rotations
KW - Cable-driven prosthesis
KW - Human ankle kinematics
KW - Multi-axis ankle-foot prosthesis
KW - Powered lower extremity prosthesis
KW - Turning
KW - Two-DOF ankle-foot
UR - http://www.scopus.com/inward/record.url?scp=84912003171&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84912003171&partnerID=8YFLogxK
U2 - 10.1186/s40638-014-0017-0
DO - 10.1186/s40638-014-0017-0
M3 - Article
AN - SCOPUS:84912003171
VL - 1
JO - Mathematische Zeitschrift
JF - Mathematische Zeitschrift
SN - 0025-5874
IS - 1
ER -