The DOI matches its Crossref record; 7 of the 7 references it cites were found in a registry or an index.
Powered ankle-foot prosthesis
Abstract
The minimum level of series compliance that adequately protects the transmission from damage during foot collision fails to satisfy bandwidth requirements. As a resolution to this difficulty, parallel motor elasticity is used to lower the forces borne by the SEA, enhancing system force bandwidth. To minimize prosthesis cost of transport (COT) and motor or transmission size, we select a parallel stiffness that supplies the necessary ankle stiffness during early stance period dorsiflexion, eliminating the need for SEA during that gait phase. In future investigations, we hope to apply the ankle-foot design to robotic, orthotic, and exoskeletal applications. In the design of biomimetic ankle-foot systems, we feel both series and parallel motor elasticity are of paramount importance.
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Cites
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Hogan, N. (1985) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3140702 · Cited by 3,673
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Neal, R. M., & Hinton, G. E. (1998) · Learning in Graphical Models · doi:10.1007/978-94-011-5014-9_12 · Cited by 2,187
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Saranli, U., Buehler, M., & Koditschek, D. E. (2001) · The International Journal of Robotics Research · doi:10.1177/02783640122067570 · Cited by 1,322
From Swimming to Walking with a Salamander Robot Driven by a Spinal Cord Model
Ijspeert, A. J., Crespi, A., Ryczko, D., & Cabelguen, J.-M. (2007) · Science · doi:10.1126/science.1138353 · Cited by 1,214
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Thoroughman, K. A., & Shadmehr, R. (2000) · Nature · doi:10.1038/35037588 · Cited by 945
External, Internal and Total Work in Human Locomotion
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Cited by
Variable Stiffness Actuators: Review on Design and Components
Wolf, S., Grioli, G., Eiberger, O., Friedl, W., Grebenstein, M., Hoppner, H., Burdet, E., Caldwell, D. G., Carloni, R., Catalano, M. G., et al. (2016) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2015.2501019 · Cited by 459
Bionic ankle–foot prosthesis normalizes walking gait for persons with leg amputation
Herr, H. M., & Grabowski, A. M. (2012) · Proceedings of the Royal Society B: Biological Sciences · doi:10.1098/rspb.2011.1194 · Cited by 391
Self-citationTargeted Muscle Reinnervation for the Upper and Lower Extremity
Kuiken, T. A., Barlow, A. K., Hargrove, L. J., & Dumanian, G. A. (2017) · Techniques in Orthopaedics · doi:10.1097/bto.0000000000000194 · Cited by 143
A review of current state-of-the-art control methods for lower-limb powered prostheses
Gehlhar, R., Tucker, M., Young, A. J., & Ames, A. D. (2023) · Annual Reviews in Control · doi:10.1016/j.arcontrol.2023.03.003 · Cited by 131
Metadata
- Authors
- Au, S., & Herr, H.
- Venue
- IEEE Robotics & Automation Magazine
- Published
- 2008-09
- Volume
- 15
- Issue
- 3
- Pages
- 52-59
- ISSN
- 1070-9932 (ISSN-L)
- OpenAlex
- W2053186023
- Cited by
- 280
- References
- 7
- FWCI
- 4.69
- Type
- journal article
- Language
- en
- Open access
- closed
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
