The sparky (spring ankle with regenerative kinetics) project: Design and analysis of a robotic transtibial prosthesis with regenerative kinetics

2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007

Volumn 5 PART C, Issue , 2008, Pages 1587-1596

  Hitt, Joseph K ^a   Bellman, Ryan ^a   Holgate, Matthew ^a   Sugar, Thomas G ^a   Hollander, Kevin W ^b  

^a Arizona State University   (United States)

^b Augspurger Komm Engineering Inc   (United States)

Author keywords

Ankle foot prosthesis; Power amplification; Power energy density; Powered prosthesis; SPARKy

Indexed keywords

ACTUATOR TECHNOLOGY; ANKLE MOTION; DESIGN AND ANALYSIS; ELECTRO MECHANICAL; ENERGY DENSITIES; HIGH POWERS; HIGHLY EFFICIENT; HUMAN GAIT; INDEX TERMS; INTERNATIONAL CONFERENCES; INTERNATIONAL DESIGNS; KINETIC (POLYM.); LOWER-LIMB AMPUTEES; MICROPROCESSOR CONTROLLED; MULTI-BODY SYSTEM (MBS); NEW GENERATION; NON-LINEAR DYNAMICS; PEAK POWERS; POWER AMPLIFICATION; PROSTHETIC DEVICES; RANGE OF MOTION (ROM); RESEARCH PROGRAMS; SAGITTAL PLANE; SYSTEM ENERGY; TECHNICAL CONFERENCES; TRANS TIBIAL PROSTHESIS; US ARMY (CO); WALKING GAITS;

ACTUATORS; AMPLIFICATION; ARCHITECTURAL DESIGN; ARTIFICIAL LIMBS; CODES (SYMBOLS); COMPUTER CONTROL; COMPUTER NETWORKS; COMPUTERS; CONTROL SYSTEMS; DYNAMICAL SYSTEMS; DYNAMICS; ELECTRIC MACHINERY; ELECTROACUPUNCTURE; ENERGY RESOURCES; ENGINEERING; INFORMATION SYSTEMS; KINETICS; MECHANICS; MICROFLUIDICS; MOTORS; NONLINEAR PROGRAMMING; PAPER; PROSTHETICS; RESEARCH; ROBOTICS; ROBOTS; SPRINGS (COMPONENTS); TECHNOLOGY; TENDONS; TISSUE;

POWER GENERATION;

EID: 44949238668     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/DETC2007-34512     Document Type: Conference Paper

References (26)

1. [Online]. Website, URL www.mshirlev.com. Marlon Shirley's Personal Site, 2006.
2. J. Casillas, V. Dulieu, and M. Cohen, "Bioenergetic comparison of a new energy-storing foot and S ACH foot in traumatic below knee vascular amputations," Archives of Physical Medicine and Rehabilitation, vol. 76, pp. 39-44, 1995.
3. S. Rao, L. Boyd, and S. Mulroy, "Segment velocities in normal and transtibial amputees: prosthetic design implications," IEEE Transactions on Rehabilitation Engineering, vol. 6, pp. 219-226, 1998.
4. L. Torburn, J. Perry, E. Ayyappa, and S. Shanfield, "Below-knee amputee gait with dynamic elastic response prosthetic feet: a pilot study," Journal of Rehabilitation Research and Development, vol. 27, pp. 369-384, 1990.
5. M Linden et la, "A methodology for studying the effects of various types of prosthetic feet on the biomechanics of trans-femoral amputee gait," Journal of Biomechanics, vol 32, pp. 877-889, 1999.
6. J. Lehmann, R. Price, S. Boswell-Bessette, et al, "Comprehensive analysis of energy storing prosthetic feet: Flex-Foot and Seattle Foot versus standard SACH foot," Archives of Physical Medicine and Rehabilitation, vol. 74, pp. 1225-1231,1993.
7. P. MacFarlane, D. Nielsen, D. Shurr, and K. Meier, "Gait comparisons for below-knee amputees using a Flex-Foot versus a conventional prosthetic foot," Journal of Prosthetics and Orthotics, vol. 3, pp. 150-161, 1991.
8. K. Postema, H. Hermens, J. de Vries, et al., "Energy storage and release of prosthetic feet. Part 1: Biomechanical analysis related to user benefits," Prosthetics and Orthotics International, vol. 21, pp. 17-27, 1997.
9. K. Postema, H. Hermens, J. de Vries, et al., "Energy storage and release of prosthetic feet. Part 2: Subjective ratings of 2 energy storing and 2 conventional feet, user choice of foot and deciding factor," Prosthetics and Orthotics International, vol. 21, pp. 28-34, 1997.
10. [Online]. Website. Rheo Knee Technical Manual, Ossur Orthopaedic Products and Services Company URL http://wvvw.ossur.com, 2006.
11. Popular Magazine Article, "Neuro-Controlled Bionic Army," November Issue, 2005.
12. J. Ward, J. Hitt, T. Sugar, and K. Bharadwaj. "Dynamic Pace Controller for the Robotic Gait Trainer," ASME International Design Engineering Technical Conference & Computers and Information in Engineering Conference, Philadelphia, PA, 2006.
13. S. Au, P. Bonato, and H. Herr, "An EMG-position controlled system for an active ankle-foot prosthesis: An initial experimental study," IEEE International Conference on Rehabilitation Robotics, 2005.
14. D. P. Ferris, K. E. Gordon, G. S. Sawicki, A. Peethambaran, "An improved powered ankle-foot orthosis using proportional myoelectric control," Gait & Posture, 2005.
15. I. Pappas, M. Popovic, T. Keller, V. Dietz, and M. Morari. ""A Reliable Gait Phase Detection System,"" IEEE Transaction on Neural Systems and Rehabilitation Engineering, vol. 9, pp. 113-125, 2001.
16. [Online]. Website. Proprio Technical Manual, Ossur Orthopaedic Products and Services Company URL http://www.ossur.com, 2006.
17. J. Hitt, A. Oymagil, T. Sugar, et al. "Dynamically Controlled Ankle-Foot Orthosis with Regenerative Kinetics: Incrementally Attaining User Portability," Proceedings of the 2007 IEEE International Conference on Robotics and Automation, Roma, Italy, 2007.
18. M. W. Whittle. Gait Analysis: An Introduction, 2 ed. Oxford: Butterworth-Heinemann, 1996.
19. K. W Hollander, R. Ilg, T. G Sugar, and D. Herring. "An Efficient Robotic Tendon for Gait Assistance," ASME Journal of Biomechanical Engineering, vol 128(5), pp. 788-791, October 2006.
20. Kartik Bharadwaj, Kevin W. Hollander, Christian Mathis, and Thomas G. Sugar. "Spring Over Muscle (SOM) Actuator for Rehabilitation Devices," IEEE International Conference on Engineering in Medicine and Biology Society (EMBS), San Francisco, CA, 2004.
21. H. Herr and R. Kornbluh. "New Horizons for Orthotic and Prosthetic Technology: Artificial Muscle for Ambulation," The MIT Media Laboratory, 2004.
22. S. Sienko Thomas, C. E. Buckon, D. Helper, N. Turner, M. Moor, J. I Krajbich, "Comparison of the Seattle Lite Foot and Genesis II Prosthetic Foot during walking and running'" Journal Prosthet Orthot., vol. 12, num. 1, pp. 9-14, 2000.
23. K. Schneider, T. Hart, R. Zernicke, Y. Setoguchi and W. Oppenheim, "Dynamics of Below-Knee Child Amputee Gait: Sach Foot versus Flex Foot," J. Biomechanics, vol 26.no. 10, pp. 1191-1204, 1993.
24. M. Geil, "Energy Loss and Stiffness Properties of Dynamic Elastic Response Prosthetic Feet," Journal of Prosthetic and Orthotic Science, vol. 13, no. 3, pp 70-73, 2001.
25. J. Hitt, "Design and Control of a Robotic Transtibial Prosthesis with Regenerative Kinetics," PhD Proposal, Arizona State University, Tempe, Arizona, 2006.
26. T. G Sugar. "A Novel Selective Compliant Actuator," Mechatronics Journal, vol. 12, pp. 1157-1171, 2002.