Relevant bibliographies by topics / Ankle-foot prosthesis

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers

Academic literature on the topic 'Ankle-foot prosthesis'

Author: Grafiati
Published: 4 June 2021
Last updated: 5 February 2022

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Journal articles on the topic "Ankle-foot prosthesis"

1

De Pauw, Kevin, Pierre Cherelle, Bart Roelands, Dirk Lefeber, and Romain Meeusen. "The efficacy of the Ankle Mimicking Prosthetic Foot prototype 4.0 during walking: Physiological determinants." Prosthetics and Orthotics International 42, no. 5 (2018): 504–10. http://dx.doi.org/10.1177/0309364618767141.

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Background: Evaluating the effectiveness of a novel prosthetic device during walking is an important step in product development. Objective: To investigate the efficacy of a novel quasi-passive ankle prosthetic device, Ankle Mimicking Prosthetic Foot 4.0, during walking at different speeds, using physiological determinants in transtibial and transfemoral amputees. Study design: Nonrandomized crossover design for amputees. Methods: Six able-bodied subjects, six unilateral transtibial amputees, and six unilateral transfemoral amputees underwent a 6-min walk test at normal speed, followed by seri
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Naseri, Amirreza, Majid Mohammadi Moghaddam, Mohammad Gharini, and Maziar Ahmad Sharbafi. "A Novel Adjustable Damper Design for a Hybrid Passive Ankle Prosthesis." Actuators 9, no. 3 (2020): 74. http://dx.doi.org/10.3390/act9030074.

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Specifications of actuators when interacting with biological systems such as the human body are entirely different from those used in industrial machines or robots. One important instance of such applications is assistive devices and prostheses. Among various approaches in designing prostheses, recently, semi-active systems attracted the interest of researchers. Even more, some commercial systems benefit from designs such as implementing an adjustable damper in the ankle prosthesis to increase range of motion. The main reason for adding damper is to assist amputees’ walking locomotion on slope
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Cohen-Sobel, E., MA Caselli, and J. Rizzuto. "Prosthetic management of a Chopart amputation variant." Journal of the American Podiatric Medical Association 84, no. 10 (1994): 505–10. http://dx.doi.org/10.7547/87507315-84-10-505.

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The history and prosthetic difficulties of a patient with an unusual Chopart amputation variant have been presented. Although it is possible for the Chopart amputee to walk with just a shoe and filler, this patient does best with a formal prosthesis. The Chopart amputation, which has been surgically stabilized with Achilles tendon lengthening to prevent equinus contractures, can be fitted successfully with a lightweight circumferential plastic or silicone prosthesis or more traditionally with a solid ankle foot orthosis with filler. This partial foot prosthesis is worn with a sturdy shoe with
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Au, Samuel, and Hugh Herr. "Powered ankle-foot prosthesis." IEEE Robotics & Automation Magazine 15, no. 3 (2008): 52–59. http://dx.doi.org/10.1109/mra.2008.927697.

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Russell Esposito, Elizabeth, Jennifer M. Aldridge Whitehead, and Jason M. Wilken. "Step-to-step transition work during level and inclined walking using passive and powered ankle–foot prostheses." Prosthetics and Orthotics International 40, no. 3 (2015): 311–19. http://dx.doi.org/10.1177/0309364614564021.

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Background: Individuals with leg amputations who use passive prostheses have greater metabolic demands than non-amputees likely due to limited net positive work compared to a biological ankle. New powered ankle–foot prostheses can perform net positive mechanical work to aid push-off capabilities, which may reduce metabolic demands. Objectives: Compare step-to-step transition work and metabolic demand during level and inclined walking using passive and powered ankle-foot prostheses. Study Design: Repeated measures. Methods: Six individuals with transtibial amputation and six able-bodied control
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Herr, Hugh M., and Alena M. Grabowski. "Bionic ankle–foot prosthesis normalizes walking gait for persons with leg amputation." Proceedings of the Royal Society B: Biological Sciences 279, no. 1728 (2011): 457–64. http://dx.doi.org/10.1098/rspb.2011.1194.

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Over time, leg prostheses have improved in design, but have been incapable of actively adapting to different walking velocities in a manner comparable to a biological limb. People with a leg amputation using such commercially available passive-elastic prostheses require significantly more metabolic energy to walk at the same velocities, prefer to walk slower and have abnormal biomechanics compared with non-amputees. A bionic prosthesis has been developed that emulates the function of a biological ankle during level-ground walking, specifically providing the net positive work required for a ran
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Safaeepour, Zahra, Ali Esteki, Farhad Tabatabai Ghomshe, and Mohammad E. Mousavai. "Design and development of a novel viscoelastic ankle-foot prosthesis based on the human ankle biomechanics." Prosthetics and Orthotics International 38, no. 5 (2014): 400–404. http://dx.doi.org/10.1177/0309364613505108.

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Background and aim: In the present study, a new approach was applied to design and develop a viscoelastic ankle-foot prosthesis. The aim was to replicate the intact ankle moment–angle loop in the normal walking speed. Technique: The moment–angle loop of intact ankle was divided into four parts, and the appropriate models including two viscoelastic units of spring-damper mechanism were considered to replicate the passive ankle dynamics. The developed prototype was then tested on a healthy subject with the amputee gait simulator. The result showed that prosthetic ankle moment–angle loop was simi
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Verheul, Floor Jacoba Marie-Georgette, Olaf Verschuren, Maremka Zwinkels, et al. "Effectiveness of a crossover prosthetic foot in active children with a congenital lower limb deficiency: an explorative study." Prosthetics and Orthotics International 44, no. 5 (2020): 305–13. http://dx.doi.org/10.1177/0309364620912063.

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Background: Children with lower limb prostheses cannot always keep up with their peers during active play. A pediatric crossover foot may be a promising prosthetic alternative for children engaging in high-intensity movements necessary for active play. Objectives: To compare children’s walking performance, running performance, experienced competence, and cosmesis using their prescribed prosthesis compared with the crossover foot. Study Design: Pretest-posttest study. Methods: Children with lower limb amputation or deficiency were recruited. Measurements were taken at baseline with the prescrib
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Sedki, Imad, and Raymond Moore. "Patient evaluation of the Echelon foot using the Seattle Prosthesis Evaluation Questionnaire." Prosthetics and Orthotics International 37, no. 3 (2012): 250–54. http://dx.doi.org/10.1177/0309364612458448.

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Background: The introduction of the Echelon prosthetic foot with a hydraulic self-aligning ankle adds improved adaptability to varied terrains and uneven walking surfaces. However, the specific indications for prescribing such components and the potential benefits are yet to be fully established. Case Description and Methods: Nine amputees including three bilateral amputees evaluated their standard prostheses using the Seattle Prosthesis Evaluation Questionnaire. They were then provided with Echelon feet, and they evaluated them after 4 weeks of use. Findings and Outcomes: Improved satisfactio
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Mulder, Inge A., Herman R. Holtslag, Leonardus FA Beersma, and Bart FJM Koopman. "Keep moving forward: A new energy returning prosthetic device with low installation height after Syme or Pirogoff amputation." Prosthetics and Orthotics International 38, no. 1 (2013): 12–20. http://dx.doi.org/10.1177/0309364613485112.

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Background:The incidence of foot amputations increased in the Netherlands to 3.3/100,000 people up to 1994. Despite these numbers, only a few basic prosthetic and orthotic devices are available, and all lack functionality to restore ankle and foot mobility.Objectives:The aim of this explorative study was to design and test a unique prosthesis for Syme or Pirogoff amputees with the necessary low installation height but restoring ankle and foot mobility.Study design:A case study was performed.Methods:The new prosthesis was designed and numerically analyzed on aspects concerning strength and defo
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Dissertations / Theses on the topic "Ankle-foot prosthesis"

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Au, Samuel Kwok-Wai. "Powered ankle-foot prosthesis for the improvement of amputee walking economy." Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/40949.

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Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.<br>Includes bibliographical references (p. 103-108).<br>The human ankle provides a significant amount of net positive work during the stance period of walking, especially at moderate to fast walking speeds. On the contrary, conventional ankle-foot prostheses are completely passive during stance, and consequently, cannot provide net positive work. Clinical studies indicate that transtibial amputees using conventional prostheses exhibit higher gait metabolic rates as compared to intact individuals. Res
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Rogers, Emily S. M. Massachusetts Institute of Technology. "Neurally-controlled ankle-foot prosthesis with non-backdrivable transmission for rock climbing augmentation." Thesis, Massachusetts Institute of Technology, 2019. https://hdl.handle.net/1721.1/121861.

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Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2019<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (pages 87-88).<br>This thesis presents the design and evaluation of a neurally-controlled ankle-foot prosthesis optimized to enhance rock climbing ability in persons with transtibial amputation. The bionic rock climbing prosthesis restores biologic performance of the ankle-foot complex. The user volitionally controls the positions of both the prosthetic ankle and subtalar joints via input from electromyography surface el
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Martinez, Villalpando Ernesto Carlos. "Estimation of ground reaction force and zero moment point on a powered ankle-foot prosthesis." Thesis, Massachusetts Institute of Technology, 2006. http://hdl.handle.net/1721.1/37271.

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Thesis (S.M.)--Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2006.<br>Includes bibliographical references (leaves 89-97).<br>Commercially available ankle-foot prostheses are passive when in contact with the ground surface, and thus, their mechanical properties remain fixed across different terrains and walking speeds. The passive nature of these prostheses causes many problems for lower extremity amputees, such as a lack of adequate balance control during standing and walking. The ground reaction force (GRF) and the zero moment
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Schlafly, Millicent. "Design and Testing of a Passive Prosthetic Ankle Foot Optimized to Mimic an Able-Bodied Gait." Scholar Commons, 2018. https://scholarcommons.usf.edu/etd/7710.

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Currently there are nearly 2 million people living with limb loss in the United States [1]. Many of these individuals are either transtibial (below knee) or transfemoral (above knee) amputees and require an ankle-foot prosthesis for basic mobility. While there are an abundance of options available for individuals who require an ankle-foot prosthesis, these options fail to mimic an intact ankle when it comes to key evaluation criteria such as range of motion, push-off force, and roll over shape. The roll over shape is created by plotting the center of pressure during a step in a shank-based coo
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Struckovs, Vasilijs. "Biomechanical adaptations involved in ramp descent: Impact of microprocessor-controlled ankle-foot prothesis. Kinetic and kinematic responses to using microprocessor-controlled ankle-foot prosthesis in unilateral trans-tibial amputees during ramp descent." Thesis, University of Bradford, 2017. http://hdl.handle.net/10454/17214.

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Ramp descent is a demanding task for trans-tibial amputees, due to the difficulty in controlling body weight progression over the prosthetic foot. A deeper understanding of the impact of foot function on ramp descent biomechanics is required to make recommendations for rehabilitation programs and prosthetic developments for lower-limb amputees. The thesis aim was to determine the biomechanical adaptations made by active unilateral trans-tibial amputees (TT) using a microprocessor-controlled ankle-foot prosthesis in active (MC-AF) compared to non-active mode (nonMC-AF) or elastically articulate
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De, Asha Alan R. "Biomechanical adaptations of lower-limb amputee-gait: Effects of the echelon hydraulically damped foot. Segmental kinetic and kinematic responses to hydraulically damped prosthetic ankle-foot components in unilateral, trans-tibial amputees." Thesis, University of Bradford, 2013. http://hdl.handle.net/10454/7271.

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The aim of this thesis was to determine the biomechanical adaptations made by active unilateral trans-tibial amputees when they used a prosthesis incorporating a hydraulically-damped, articulating ankle-foot device compared to non-hydraulically attached devices. Kinematic and kinetic data were recorded while participants ambulated over a flat and level surface at their customary walking speeds and at speeds they perceived to be faster and slower using the hydraulic device and their habitual foot. Use of the hydraulic device resulted in increases in self-selected walking speeds with a simultan
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De, Asha Alan Richard. "Biomechanical adaptations of lower-limb amputee-gait : effects of the echelon hydraulically damped foot : segmental kinetic and kinematic responses to hydraulically damped prosthetic ankle-foot components in unilateral, trans-tibial amputees." Thesis, University of Bradford, 2013. http://hdl.handle.net/10454/7271.

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The aim of this thesis was to determine the biomechanical adaptations made by active unilateral trans-tibial amputees when they used a prosthesis incorporating a hydraulically-damped, articulating ankle-foot device compared to non-hydraulically attached devices. Kinematic and kinetic data were recorded while participants ambulated over a flat and level surface at their customary walking speeds and at speeds they perceived to be faster and slower using the hydraulic device and their habitual foot. Use of the hydraulic device resulted in increases in self-selected walking speeds with a simultane
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Eslamy, Mahdy Verfasser], Andre [Akademischer Betreuer] Seyfarth, and Stephan [Akademischer Betreuer] [Rinderknecht. "Emulation of Ankle Function for Different Gaits through Active Foot Prosthesis: Actuation Concepts, Control and Experiments / Mahdy Eslamy. Betreuer: Andre Seyfarth ; Stephan Rinderknecht." Darmstadt : Universitäts- und Landesbibliothek Darmstadt, 2014. http://d-nb.info/1110903294/34.

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Eslamy, Mahdy [Verfasser], Andre Akademischer Betreuer] Seyfarth, and Stephan [Akademischer Betreuer] [Rinderknecht. "Emulation of Ankle Function for Different Gaits through Active Foot Prosthesis: Actuation Concepts, Control and Experiments / Mahdy Eslamy. Betreuer: Andre Seyfarth ; Stephan Rinderknecht." Darmstadt : Universitäts- und Landesbibliothek Darmstadt, 2014. http://nbn-resolving.de/urn:nbn:de:tuda-tuprints-42021.

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Eilenberg, Michael Frederick. "A neuromuscular-model based control strategy for powered ankle-foot prostheses." Thesis, Massachusetts Institute of Technology, 2009. http://hdl.handle.net/1721.1/58192.

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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (p. 89-90).<br>In the development of a powered ankle-foot prosthesis, it is desirable to provide the prosthesis with the ability to exhibit human-like dynamics. A simple method for achieving this goal involves trajectory tracking, where a specific target torque trajectory is known, and the controller issues commands to follow the trajectory as closely as possible. However, without a methodology to update the desired traject
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Books on the topic "Ankle-foot prosthesis"

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Coetzee, J. Christiaan. Arthritis & arthroplasty: The foot and ankle. Saunders/Elsevier, 2010.

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C, Nielsen Caroline, ed. Orthotics and prosthetics in rehabilitation. 2nd ed. Saunders/Elsevier, 2007.

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J, D'Astous, Edelstein Joan M, and Nielsen Caroline C, eds. Orthotics and prosthetics in rehabilitation. Butterworth Heinemann, 2000.

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1960-, Coetzee J. Christiaan, and Hurwitz Shepard R, eds. Arthritis & arthroplasty.: The foot and ankle. Saunders/Elsevier, 2009.

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Arthritis & arthroplasty.: The foot and ankle. Saunders/Elsevier, 2009.

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1960-, Coetzee J. Christiaan, and Hurwitz Shepard R, eds. Arthritis & arthroplasty.: The foot and ankle. Saunders/Elsevier, 2009.

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(Editor), Michelle M. Lusardi, and Caroline C. Nielsen (Editor), eds. Orthotics & Prosthetics in Rehabilitation. Butterworth-Heinemann, 2000.

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Lusardi, Michelle M., and Caroline C. Nielsen. Orthotics and Prosthetics in Rehabilitation. 2nd ed. Butterworth-Heinemann, 2006.

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Book chapters on the topic "Ankle-foot prosthesis"

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Gupta, Rohit, and Ravinder Agarwal. "Lower-limb muscle EMG analysis to predict ankle-foot activities for prosthesis control." In Smart Computing. CRC Press, 2021. http://dx.doi.org/10.1201/9781003167488-46.

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Dong, Dianbiao, Wenjie Ge, Jianting Wang, Yuanxi Sun, and Donglai Zhao. "Optimal Design and Analysis of a Powered Ankle-Foot Prosthesis with Adjustable Actuation Stiffness." In Advances in Intelligent Systems and Computing. Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-030-00214-5_73.

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Bonasia, Davide Edoardo, Laura Bruno, Lorenzo Morino, and Raul Cerlon. "Foot and Ankle." In Imaging of Prosthetic Joints. Springer Milan, 2014. http://dx.doi.org/10.1007/978-88-470-5483-7_9.

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LeMoyne, Robert. "Ankle-Foot Complex and the Fundamental Aspects of Gait." In Advances for Prosthetic Technology. Springer Japan, 2016. http://dx.doi.org/10.1007/978-4-431-55816-3_2.

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Ficanha, Evandro M., Mohammad Rastgaar, and Kenton R. Kaufman. "Multi-axis Capability for Powered Ankle-Foot Prostheses." In Trends in Augmentation of Human Performance. Springer Netherlands, 2014. http://dx.doi.org/10.1007/978-94-017-8932-5_4.

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Dao, Thanh-Phong, and Ngoc Le Chau. "Passive Prosthetic Ankle and Foot with Glass Fiber Reinforced Plastic: Biomechanical Design, Simulation, and Optimization." In Biomaterials in Orthopaedics and Bone Regeneration. Springer Singapore, 2019. http://dx.doi.org/10.1007/978-981-13-9977-0_6.

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Chinnathurai, R., P. Sekar, M. Kumar, and K. Manoj. "Prosthesis in Foot and Ankle Amputation." In Short Textbook of Prosthetics and Orthotics. Jaypee Brothers Medical Publishers (P) Ltd., 2010. http://dx.doi.org/10.5005/jp/books/11113_6.

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"Development of an Advanced Biofidelic Lower Extremity Prosthesis*." In Foot and Ankle Motion Analysis. CRC Press, 2007. http://dx.doi.org/10.1201/9781420005745-42.

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Pfeffer, Glenn B., and Lew C. Schon. "Total Ankle Arthroplasty Through a Lateral Approach (Zimmer Prosthesis)." In Operative Techniques: Foot and Ankle Surgery. Elsevier, 2018. http://dx.doi.org/10.1016/b978-0-323-48234-9.00058-6.

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Hintermann, Beat. "Total Ankle Arthroplasty With a Current Three-Component Design (HINTEGRA Prosthesis)." In Operative Techniques: Foot and Ankle Surgery. Elsevier, 2018. http://dx.doi.org/10.1016/b978-0-323-48234-9.00057-4.

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Conference papers on the topic "Ankle-foot prosthesis"

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Nanjangud, Akshay, and Robert D. Gregg. "Simultaneous Control of an Ankle-Foot Prosthesis Model Using a Virtual Constraint." In ASME 2014 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/dscc2014-5963.

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Amputee locomotion can benefit from recent advances in robotic prostheses, but their control systems design poses challenges. Prosthesis control typically discretizes the nonlinear gait cycle into phases, with each phase controlled by different linear controllers. Unfortunately, real-time identification of gait phases and tuning of controller parameters limit implementation. Recently, biped robots have used phase variables and virtual constraints to characterize the gait cycle as a whole. Although phase variables and virtual constraints could solve issues with discretizing the gait cycle, the
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Nickel, Eric, Gregory Voss, Andrew Hansen, and Sara Koehler-McNicholas. "Development of an Ankle-Foot Prosthesis for Physical Therapy." In 2019 Design of Medical Devices Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/dmd2019-3238.

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A novel ankle-foot prosthesis with adjustable range-of-motion limits was developed to support implementation of gradual training protocols in the physical therapy of new amputees. Stakeholder interviews drove design requirements that guided the development. Our first prototype did not pass structural strength testing, but with minor revisions to some components, our second prototype was able to pass structural strength testing to the P6 load level (125kg user) of the ISO 10328 standard for prosthetic feet. The system is ready for laboratory testing with prosthesis users and clinicians to gener
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Dallali, Houman, Evandro Ficanha, and Mohammad Rastgaar Aagaah. "Dynamic Modeling of a 2-DOF Cable Driven Powered Ankle-Foot Prosthesis." In ASME 2016 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/dscc2016-9706.

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The first step to study and develop a two Degrees of Freedom (DOF) prosthesis is to derive a dynamic model for simulation and control design. In this paper, the ankle-foot prosthesis has controllable Dorsi-Plantarflexion (DP) and Inversion-Eversion (IE) DOF. We derive a compliant dynamic model for a recently developed ankle-foot prosthesis followed by identification of the actuators, transmission, and prosthetic foot parameters. The resulting model is then verified experimentally and in simulation. Dynamic decoupling of the actuators to the ankle’s DP and IE DOF is also investigated using Bode
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Fairhurst, Stuart R., Sara R. Koehler-McNicholas, Billie C. S. Slater, et al. "Improving Automatic Control of an Ankle-Foot Prosthesis Using Machine Learning Algorithms." In 2017 Design of Medical Devices Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/dmd2017-3464.

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Most commercially available lower-limb prostheses are designed for walking, not for standing. The Minneapolis VA Health Care System has developed a bimodal prosthetic ankle-foot system with distinct modes for walking and standing [1]. With this device, a prosthesis user can select standing or walking mode in order to maximize standing stability or walking functionality, depending on the activity and context. Additionally, the prosthesis was designed to allow for an “automatic mode” to switch between standing and walking modes based on readings from an onboard Inertial Measurement Unit (IMU) wi
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Sie, Astrini, Jonathan Realmuto, and Eric Rombokas. "A Lower Limb Prosthesis Haptic Feedback System for Stair Descent." In 2017 Design of Medical Devices Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/dmd2017-3409.

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Though there are a variety of prosthetic limbs that address the motor deficits associated with amputation, there has been relatively little progress in restoring sensation. Prosthetic limbs provide little direct sensory feedback of the forces they encounter in the environment, but “closing the loop” between sensation and action can make a great difference in performance [1]. For users of lower limb prostheses, stair descent is a difficult and dangerous task. The difficulty in stair descent can be attributed to three different factors: 1) Absence of tactile and haptic sensations at the bottom o
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Au, Samuel K., Jeff Weber, and Hugh Herr. "Biomechanical Design of a Powered Ankle-Foot Prosthesis." In 2007 IEEE 10th International Conference on Rehabilitation Robotics. IEEE, 2007. http://dx.doi.org/10.1109/icorr.2007.4428441.

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Ficanha, Evandro, Houman Dallali, and Mo Rastgaar. "Gait Emulator for Evaluation of a Powered Ankle-Foot Prosthesis." In ASME 2017 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/dscc2017-5089.

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In this paper we present an enhanced gait emulator and a novel hybrid control system to test powered ankle-foot prostheses with two degrees of freedom in the sagittal and frontal planes. The gait emulator is a nonlinear and non-smooth system that has to follow a precisely timed set of phases to achieve a human-like periodic gait. Despite the complexity and parameter uncertainties of this five degrees of freedom system, our proposed hybrid control system simplifies the walking control by use of state triggered kinematic events. The control system works in closed loop with kinematic event detect
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Ahmed, M. Hannan, Fawaz Wahid, Ahsan Ali, Mohsin I. Tiwana, Javaid Iqbal, and Nigel H. Lovell. "Actuator design for robotic powered an ankle-foot prosthesis." In 2015 International Symposium on Bioelectronics and Bioinformatics (ISBB). IEEE, 2015. http://dx.doi.org/10.1109/isbb.2015.7344942.

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Elley, Colin, and Carl A. Nelson. "A Passive Two-Degree-of-Freedom Ankle-Foot Prosthesis." In 2018 Design of Medical Devices Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/dmd2018-6820.

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Natural human ankle motion includes dorsiflexion/plantarflexion (the major contributor to gait) as well as smaller contributions from inversion/eversion and abduction/adduction motions. Many of the commercially available passive prostheses for amputees are either stiff in all these motion directions or are compliant mainly in the dorsiflexion/plantarflexion direction. This can make it difficult for amputees to walk on uneven or sloped surfaces, and leads to increased risk of falling [1–4].
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A. Ribeiro, G., and M. Rastgaar. "Prediction of Ground Profile for Lower-Leg Prosthesis Control Using a Visual-Inertial System." In 2018 Design of Medical Devices Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/dmd2018-6962.

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The field of control of powered lower-leg prostheses has advanced due to the improvements in sensors and computational power. Much effort has been done to improve the capabilities of prostheses, such as mimicking the stiffness, weight, and mobility of a human ankle-foot [1] and autonomously commanding the robotic prosthesis for gait [2].
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