Powered ankle-foot prosthesis

  title={Powered ankle-foot prosthesis},
  author={Samuel K. Au and Hugh M. Herr},
  journal={IEEE Robotics & Automation Magazine},
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 transmission size, we select a parallel stiffness that supplies the necessary ankle stiffness during early stance period dorsiflexion… CONTINUE READING
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