Prosthesis for Energy Efficient Walking and Running Powered by Redundant Series-Parallel Elastic Actuation (FWOSB33)

In this research proposal the goal is to develop, control and validate experimentally a new generation of two degrees of freedom powered ankle prostheses that allows a below-knee amputee to walk and run in a very broad operating range as it is the case for a non-amputee. The actuation technology that will be used to achieve this, is inspired by the working principle of human muscles: a series-parallel arrangement of multiple muscle fibres that can each be recruited when necessary. By introducing for every degree of freedom of the prosthesis many compliant actuation units that can each be locked or unlocked to store or release energy, the control strategy can adapt to different walking or running speeds or to variable terrains. Since there are more actuation units than strictly necessary to achieve the motion of the gait, the main advantage of the novel control strategy of these units is that this can be performed in an energy-efficient way. This will lead to highly adaptable prosthesis with a very high energy efficiency. Throughout this PhD, different prototypes will be developed and tested on lower limb amputees.

Keywords:Prosthesis

Disciplines:Biomechanical engineering not elsewhere classified