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Related Experiment Video

Updated: May 28, 2026

Engineering Platform and Experimental Protocol for Design and Evaluation of a Neurally-controlled Powered Transfemoral Prosthesis
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Published on: July 22, 2014

Design and Initial Evaluation of a Low-Cost Microprocessor-Controlled Ankle Prosthesis.

Zhanar Bigaliyeva1, Abu-Alim Ayazbay1,2, Sayat Akhmejanov1

  • 1Department of Robotics and Technical Tools of Automation, Satbayev University, Almaty 050013, Kazakhstan.

Sensors (Basel, Switzerland)
|May 27, 2026
PubMed
Summary
This summary is machine-generated.

This study introduces a low-cost microprocessor-controlled ankle prosthesis, offering a feasible alternative to expensive options. The prototype demonstrated controlled motion and adaptability, paving the way for advanced prosthetic development.

Keywords:
ESP32 microcontrollerIMU sensorankle prosthesisball-screw actuationmicroprocessor control

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Area of Science:

  • Biomedical Engineering
  • Robotics
  • Prosthetics

Background:

  • Lower-limb amputation presents significant clinical and socio-economic challenges.
  • High costs of current microprocessor-controlled prostheses (MPKs) limit accessibility.
  • There is a need for affordable, advanced prosthetic solutions.

Purpose of the Study:

  • To design and evaluate a low-cost microprocessor-controlled ankle prosthesis.
  • To create a feasible platform for future active prosthetic system development.
  • To explore a novel actuation architecture for lower-limb prosthetics.

Main Methods:

  • Developed an updated CAD model in SolidWorks 2024.
  • Utilized a ball-screw transmission driven by a NEMA 17 stepper motor.
  • Integrated an ESP32 microcontroller, MPU9250 IMU, limit switch, and WiFi REST API.

Main Results:

  • Demonstrated controlled positional behavior and repeatable angular response in laboratory tests.
  • Successfully implemented a homing procedure within a 0-4200 motor step range.
  • The prototype generated active dorsiflexion-plantar flexion and incorporated passive inversion-eversion.

Conclusions:

  • The prototype represents an initial engineering feasibility study for low-cost active ankle actuation.
  • Provides a foundation for future research, including load-bearing and closed-loop control.
  • Offers a potential pathway to more accessible advanced prosthetic technology.