Elastic elements in prosthetic devices can help to reduce peak power (PP) and energy
requirements (ER) for the actuators. Calculations showed that it is impossible with current …

Background Current prosthetic ankle joints are designed either for walking or for running. In
order to mimic the capabilities of an able-bodied, a powered prosthetic ankle for walking and …

Human upright locomotion is a complex behavior depending on manifold requirements.
Bones, muscles, cartilage and tendons provide mechanical infrastructure. Central nervous …

This paper presents a running control architecture for a powered knee and ankle prosthesis
that enables a transfemoral amputee to run with a biomechanically appropriate running gait …

In this paper, a powered ankle-foot prosthesis with nonlinear parallel spring mechanism is
developed. The parallel spring mechanism is used for reducing the energy consumption and …

This paper describes the mechanical design of ESCHER, a series elastic humanoid
developed to compete in the DARPA Robotics Challenge (DRC). The design methodology …

A joint torque augmentation system includes linkage assembly configured to couple to a
user. Linkage assembly includes a unidirectional link and a device joint. The linkage …

Recently, the truss antennas with deployable tetrahedron unit mechanisms have been
successfully applied in orbit, owing to the advantages of large calibers, high accuracy, and …

In this study, a powered ankle-foot prosthesis driven by a nonlinear parallel elastic actuator
(PEA) is developed and tested. A finite state impedance controller is utilized to identify the …

(Continued) tor to control the actuator based on a gait activity. The first clutch is locked to
engage the first compliant member. A second compliant member is coupled to the main …