A two-axis cable-driven ankle-foot mechanism

Evandro M. Ficanha, Mohammad Rastgaar, Kenton R Kaufman

Research output: Contribution to journalArticle

14 Citations (Scopus)

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 languageEnglish (US)
JournalMathematische Zeitschrift
Volume1
Issue number1
DOIs
StatePublished - Nov 2 2014

Fingerprint

Cable
Impedance
Inversion
Degree of freedom
Straight
Demonstrate
Kinematics
Robot
Prototype
Trajectory
Controller
Path
Motion
Range of data
Human

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 journalArticle

Ficanha, Evandro M. ; Rastgaar, Mohammad ; Kaufman, Kenton R. / A two-axis cable-driven ankle-foot mechanism. In: Mathematische Zeitschrift. 2014 ; Vol. 1, No. 1.
@article{c83fd770bf994659b834ea75b705b4ad,
title = "A two-axis cable-driven ankle-foot mechanism",
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.",
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",
author = "Ficanha, {Evandro M.} and Mohammad Rastgaar and Kaufman, {Kenton R}",
year = "2014",
month = "11",
day = "2",
doi = "10.1186/s40638-014-0017-0",
language = "English (US)",
volume = "1",
journal = "Mathematische Zeitschrift",
issn = "0025-5874",
publisher = "Springer New York",
number = "1",

}

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 -