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The minimum level of series compliance that adequately protects the transmission from damage during foot collision fails to satisfy bandwidth requirements. As a resolution to this difficulty, parallel motor elasticity is used to lower the forces borne by the SEA, enhancing system force bandwidth. To minimize prosthesis cost of transport (COT) and motor or(More)
An analytical study of the failure region of the ®rst excursion reliability problem for linear dynamical systems subjected to Gaussian white noise excitation is carried out with a view to constructing a suitable importance sampling density for computing the ®rst excursion failure probability. Central to the study arèelementary failure regions', which are(More)
A Bayesian probabilistic methodology for structural health monitoring is presented. The method uses a sequence of identified modal parameter data sets to compute the probability that continually updated model stiffness parameters are less than a specified fraction of the corresponding initial model stiffness parameters. In this approach, a high likelihood(More)
The human ankle varies impedance and delivers net positive work during the stance period of walking. In contrast, commercially available ankle-foot prostheses are passive during stance, causing many clinical problems for transtibial amputees, including non-symmetric gait patterns, higher gait metabolism, and poorer shock absorption. In this investigation,(More)
At moderate to fast walking speeds, the human ankle provides net positive work at high-mechanical-power output to propel the body upward and forward during the stance period. On the contrary, conventional ankle-foot prostheses exhibit a passive-elastic response during stance, and consequently, cannot provide net work. Clinical studies indicate that(More)
Although below-knee prostheses have been commercially available for some time, today's devices are completely passive, and consequently, their mechanical properties remain fixed with walking speed and terrain. A lack of understanding of the ankle-foot biomechanics and the dynamic interaction between an amputee and a prosthesis is one of the main obstacles(More)
This paper presents the mechanical design, control scheme, and clinical evaluation of a novel, motorized ankle-foot prosthesis, called MIT Powered Ankle-Foot Prosthesis. Unlike a conventional passive-elastic ankle-foot prosthesis, this prosthesis can provide active mechanical power during the stance period of walking. The basic architecture of the(More)