This paper describes a model of a prosthesis of ankle able to control the pitch and the release of energy recovered during the gait; moreover, the model is able to provide to the user more power than the one recovered during the gait, in order to ensure a natural gait. The development of the model has been articulated in 3 steps: the study of the gait of able body people; the design of a mechanical system able to adjust the pitch of the ankle and at the same time able to store the mechanical energy; the development of an active control of the foot and of the energy recovery system. The conceived model is made of a four-bar linkage with a further fifth element. Two of those elements can modify the length: one is an active shock absorber for damping and for the energy recovery; the other is a linear actuator for the pitch adjusting. The first is equipped with two control flow valves; the second is made of a screw nut mechanism. The control system is based on a central control unit that detects signals from three sensors to determine the gait phase, to control the shock absorber and to adapt the actuator to the correct position.

Ankle prosthesis with an active control of the pitch and the release of the energy

Antonelli, Michele Gabrio;Alleva, Stefano;Durante, Francesco;Zobel, Pierluigi Beomonte
2018-01-01

Abstract

This paper describes a model of a prosthesis of ankle able to control the pitch and the release of energy recovered during the gait; moreover, the model is able to provide to the user more power than the one recovered during the gait, in order to ensure a natural gait. The development of the model has been articulated in 3 steps: the study of the gait of able body people; the design of a mechanical system able to adjust the pitch of the ankle and at the same time able to store the mechanical energy; the development of an active control of the foot and of the energy recovery system. The conceived model is made of a four-bar linkage with a further fifth element. Two of those elements can modify the length: one is an active shock absorber for damping and for the energy recovery; the other is a linear actuator for the pitch adjusting. The first is equipped with two control flow valves; the second is made of a screw nut mechanism. The control system is based on a central control unit that detects signals from three sensors to determine the gait phase, to control the shock absorber and to adapt the actuator to the correct position.
9783319612751
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11697/122542
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