Abstract
A novel powered ankle–foot prosthesis (RoMicP™) is designed for heavy amputees. A novel elastic actuator, namely, a unidirectional parallel elastic actuator with series elastic element (SE+UPEA), is implemented by the employment of a harmonic reducer and a two-level cable-drive system and the application of planar torsional springs. The results of mechanical design declare that the designed structure can achieve outstanding performance on both the height of installation position and the motion range of the ankle joint. The mass of all mechanical components can meet the requirements of design. A double-loop impedance control system is developed with two constant parameters and two time-varying parameters. With optimal parameters of parallel and series springs and tuned parameters of the control system, RoMicP™ is verified by simulation under different loads. The simulation results show that the performance is remarkable in tracking the ankle position reference with small errors during walking on level ground, where the torque load on the ankle is equivalent to that of an amputee whose weight is 100 kg.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Liu, J., Abu Osman, N.A., Al Kouzbary, M., Al Kouzbary, H., Abd Razak, N.A., Shasmin, H.N., Arifin, N.: Classification and comparison of mechanical design of powered ankle–foot prostheses for transtibial amputees developed in the 21st century: a systematic review. J. Med. Dev. 15(1), 010801 (2021)
Eilenberg, M.F., Geyer, H., Herr, H.: Control of a powered ankle–foot prosthesis based on a neuromuscular model. IEEE Trans. Neural Syst. Rehabil. Eng. 18(2), 164–173 (2010)
Agboola-Dobson, A., Wei, G., Ren, L.: Biologically inspired design and development of a variable stiffness powered ankle-foot prosthesis. J. Mech. Robot. 11(4), 041012 (2019)
Bartlett, H.L., Lawson, B.E., Goldfarb, M.: Design, control, and preliminary assessment of a multifunctional semipowered ankle prosthesis. IEEE/ASME Trans. Mechatron. 24(4), 1532–1540 (2019)
Jimenez-Fabian, R., Flynn, L., Geeroms, J., Vitiello, N., Vanderborght, B., Lefeber, D.: Sliding-bar MACCEPA for a powered ankle prosthesis. J. Mech. Robot. 7(4), 041011 (2015)
Liu, J., Abu Osman, N.A., Al Kouzbary, M., Al Kouzbary, H., Abd Razak, N.A., Shasmin, H.N., Arifin, N.: Optimization and comparison of typical elastic actuators in powered ankle-foot prosthesis. Int. J. Control, Autom. Syst. (Accepted)
Zhu, J., Wang, Q., Wang, L.: On the design of a powered transtibial prosthesis with stiffness adaptable ankle and toe joints. IEEE Trans. Industr. Electron. 61(9), 4797–4807 (2014)
Yuan, K., Wang, Q., Zhu, J., Wang, L.: A hierarchical control scheme for smooth transitions between level ground and ramps with a robotic transtibial prosthesis. IFAC Proc. 47(3), 3527–3532 (2014)
Gao, F., Liu, Y., Liao, W.H.: Implementation and testing of ankle-foot prosthesis with a new compensated controller. IEEE/ASME Trans. Mechatron. 24(4), 1775–1784 (2019)
Ficanha, E.M., Rastgaar, M., Kaufman, K.R.: Control of a 2-DOF powered ankle-foot mechanism. In: 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 6439–6444 (2015)
Mai, A., Commuri, S.: Intelligent control of a prosthetic ankle joint using gait recognition. Control. Eng. Pract. 49, 1–13 (2016)
Yuan, L., Hu, B., Wei, K. and Chen, S.: Control principle of modern permanent magnet synchronous motor and simulation in MATLAB. Beihang University Press, Beijing, China (2016)
EC-i 52 Datasheet. https://www.maxongroup.com/medias/sys_master/root/8882560892958/EN-21-281.pdf
Winter, D.A.: Biomechanics and Motor Control of Human Gait: Normal, Elderly and Pathological. University of Waterloo Press, Waterloo, Canada (1991)
Rouse, E.J., Hargrove, L.J., Perreault, E.J., Kuiken, T.A.: Estimation of human ankle impedance during the stance phase of walking. IEEE Trans. Neural Syst. Rehabil. Eng. 22(4), 870–878 (2014)
Shorter, A.L., Rouse, E.J.: Mechanical impedance of the ankle during the terminal stance phase of walking. IEEE Trans. Neural Syst. Rehabil. Eng. 26(1), 135–143 (2017)
Lee, H., Hogan, N.: Time-varying ankle mechanical impedance during human locomotion. IEEE Trans. Neural Syst. Rehabil. Eng. 23(5), 755–764 (2014)
Al Kouzbary, M., Abu Osman, N.A., Abdul Wahab, A.K.: Sensorless control system for assistive robotic ankle-foot. Int. J. Adv. Rob. Syst. 15(3), 1729881418775854 (2018)
Al Kouzbary, M., Abu Osman, N.A., Al Kouzbary, H., Shasmin, H.N., Arifin, N.: Towards universal control system for powered ankle-foot prosthesis: a simulation study. Int. J. Fuzzy Syst. 22(4), 1299–1313 (2020)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 Springer Nature Switzerland AG
About this paper
Cite this paper
Liu, J. et al. (2022). A Conceptual Design and Control of a Novel Powered Ankle–Foot Prosthesis (RoMicP™) for Heavy Amputees. In: Usman, J., Liew, Y.M., Ahmad, M.Y., Ibrahim, F. (eds) 6th Kuala Lumpur International Conference on Biomedical Engineering 2021. BIOMED 2021. IFMBE Proceedings, vol 86 . Springer, Cham. https://doi.org/10.1007/978-3-030-90724-2_28
Download citation
DOI: https://doi.org/10.1007/978-3-030-90724-2_28
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-90723-5
Online ISBN: 978-3-030-90724-2
eBook Packages: EngineeringEngineering (R0)