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A universal ankle-foot prosthesis emulator for human locomotion experiments.

Joshua M Caputo, Steven H Collins

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    |December 17, 2013
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    This study introduces a versatile robotic ankle-foot prosthesis emulator for rapid human-robot interaction experiments. The system allows researchers to explore diverse prosthetic behaviors, accelerating the development of advanced lower-limb prosthetics.

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    Area of Science:

    • Robotics
    • Biomechanics
    • Human-Robot Interaction

    Background:

    • Robotic prostheses offer potential for improved mobility in lower-limb amputees.
    • Current computational models struggle to predict human responses to robotic prostheses.
    • Existing experimental prototypes are specialized and time-consuming to develop.

    Purpose of the Study:

    • To present a novel robotic ankle-foot prosthesis emulator for rapid experimental exploration.
    • To enable investigation of a wide range of dynamical behaviors in human-robot interaction studies.
    • To facilitate early-stage assessment of prosthetic functionalities and fundamental human-robot interaction.

    Main Methods:

    • Developed an emulator with off-board motor/control, Bowden cable tether, and lightweight instrumented prosthesis.
    • Characterized system performance: 17 Hz torque bandwidth, 175 Nm peak torque, 1.0 kW peak power.
    • Conducted preliminary tests with a transtibial amputee walking on a treadmill.

    Main Results:

    • The system demonstrated low worn mass (0.96 kg) and high mechatronic performance.
    • Tether interference was minimal (<1 Nm about the hip).
    • Achieved low torque tracking error (2.8 Nm RMS) and controlled work production/absorption (-5 to 21 J/step).

    Conclusions:

    • The robotic emulator is highly versatile due to low mass, high bandwidth, and unrestricted movement.
    • The platform is suitable for human experiments, enabling systematic variation of prosthetic behavior.
    • This approach supports efficient development and scientific study of lower-limb robotic prostheses and human-robot interaction.