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This paper presents the design of a novel powered ankle-foot prosthesis with compliant ankle and segmented foot. The powered compliant ankle is proposed to replace the able-bodied ankle which can provide sufficient power to propel the body upward and forward during bipedal walking. In order to make the walking gaits of the amputees more stable and natural,(More)
Current finite-state control strategies for powered below-knee prosthesis, though effective to the normal gait, can not eliminate the disturbance of abnormal gaits such as slip and stamp. In addition, toe joint is not taken into consideration. This paper presents a finite-state control strategy for a powered below-knee prosthesis with ankle and toe. We(More)
This paper presents a bio-inspired below-knee exoskeleton to assist human walking. Different from the passive orthotic devices, the proposed exoskeleton includes powered compliant ankle and toe joints, which can output sufficient power to help the one with exoskeleton relearn normal walking gaits. We first propose a passivity-based dynamic bipedal model to(More)
Active transtibial prostheses that can overcome the deficiencies of passive prostheses are gaining popularity in the research field. In addition to the advantages in joint torque and gait symmetry, terrain adaptation and total weight are other benefits that can help push active prostheses into the commercial market. In this article, we present a lightweight(More)
In recent years, there has been an increasing interest in the functionality of the foot in human normal walking. Different from the existing methods that represent the foot as a single rigid bar, several multi-segmented foot models have been studied to evaluate the effects of the segmented foot structures on human walking for clinical applications [1],(More)
Recent advances in robotic technology are facilitating the development of robotic prostheses. Our previous studies proposed a lightweight robotic transtibial prosthesis with a damping control strategy. To improve the performance of power assistance, in this paper, we redesign the prosthesis and improve the control strategy by supplying extra push-off power.(More)
The authors have previously developed a powered transtibial prosthesis with ankle and toe joints to help lower-limb amputees obtain more natural walking gaits. Inspired by the importance of series elasticity in increasing muscle work output and efficiency, series elasticity has been added into the actuators which are used to drive the ankle and toe joints.(More)