Ankle-Knee prosthesis with powered ankle and energy transfer for CYBERLEGs α-prototype

Area of Science:

• Biomedical Engineering
• Robotics
• Biomechanics

Background:

• Growing number of amputations necessitates advanced prosthetic solutions.
• Current passive prostheses have clear energetic disadvantages.
• Active prostheses face limitations in autonomy and energy efficiency.

Purpose of the Study:

• To design and develop an actuated knee-ankle prosthesis.
• To approximate human joint torques and gait kinematics.
• To reduce energy consumption during level walking.

Main Methods:

• Simulation, design, and development of a novel prosthesis.
• Implementation of a variable stiffness actuator.
• Energetic coupling between the knee and ankle joints.

Main Results:

• The prototype demonstrated a good approximation of joint torques and gait kinematics.
• The design maintained compliant joints.
• Reduced energy consumption during level walking was achieved.

Conclusions:

• The developed actuated prosthesis offers a promising approach for restoring natural walking.
• Variable stiffness and energy transfer are key to improving prosthetic performance.
• This technology enhances amputee independence and reduces energy demands.