A Prosthetic Shank With Adaptable Torsion Stiffness and Foot Alignment

Schuy J, Stech N, Harris G, Beckerle P, Zahedi S, Rinderknecht S (2020)

Publication Type: Journal article

Publication year: 2020

Journal

Frontiers in Neurorobotics Frontiers Research Foundation / Frontiers Media

Book Volume: 14

Article Number: 23

DOI: 10.3389/fnbot.2020.00023

Abstract

Torsion adapters in lower limb prostheses aim to increase comfort, mobility and health of users by allowing rotation in the transversal plane. A preliminary study with two transtibial amputees indicated correlations between torsional stiffness and foot alignment to increase comfort and stability of the user depending on the gait situation and velocity. This paper presents the design and proof-of-concept of an active, bio-inspired prosthetic shank adapter and a novel approach to create a user-specific human-machine interaction through adapting the device's properties. To provide adequate support, load data and subjective feedback of subjects are recorded and analyzed regarding defined gait situations. The results are merged to an user individual preference-setting matrix to select optimal parameters for each gait situation and velocity. A control strategy is implemented to render the specified desired torsional stiffness and transversal foot alignment values to achieve situation-dependent adaptation based on the input of designed gait detection algorithms. The proposed parallel elastic drive train mimics the functions of bones and muscles in the human shank. It is designed to provide the desired physical human-machine interaction properties along with optimized actuator energy consumption. Following test bench verification, trials with five participants with lower limb amputation at different levels are performed for basic validation. The results suggest improved movement support in turning maneuvers. Subjective user feedback confirmed a noticeable reduction of load at the stump and improved ease of turning.

Authors with CRIS profile

Philipp Beckerle

Involved external institutions

Continental Teves AG & Co. oHG DE Germany (DE) seleon gmbh DE Germany (DE) Blatchford Limited GB United Kingdom (GB) Technische Universität Darmstadt DE Germany (DE)

How to cite

APA:

Schuy, J., Stech, N., Harris, G., Beckerle, P., Zahedi, S., & Rinderknecht, S. (2020). A Prosthetic Shank With Adaptable Torsion Stiffness and Foot Alignment. Frontiers in Neurorobotics, 14. https://dx.doi.org/10.3389/fnbot.2020.00023

MLA:

Schuy, Jochen, et al. "A Prosthetic Shank With Adaptable Torsion Stiffness and Foot Alignment." Frontiers in Neurorobotics 14 (2020).

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