This innovative prosthetic device is designed to assist human walking, specifically for below-knee amputees. The device incorporates biarticular and uniarticular Series Elastic Actuators (SEAs) that mimic the natural movements of the human ankle and knee, providing the necessary torque to facilitate a smooth and natural gait.
Figure (1) Physical prototype (2) Use of the prototype
Modern prosthetic devices often fail to fully rehabilitate amputees due to their inability to accurately emulate the balance of forces and movements generated by a biological ankle. This can lead to discomfort, asymmetry in gait, and pain in other parts of the body. The challenge is to create a prosthetic device that provides a more natural walking experience and reduces these issues.
The device for assisting human walking features unique components that enhance its functionality.
- Biarticular Series Elastic Actuator (SEA): The biarticular SEA connects to a thigh brace, applying precise torque through biarticular springs to improve coordination, stability, and joint movement control.
- Uniarticular SEA: The uniarticular SEA, connected to shank plates, focuses torque directly to the shank, via uniarticular series springs, for efficient lower limb movement.
- Parallel springs: Parallel springs provide additional torque boosting support during weight-bearing phases, thereby improving limb support and stability.
- High-resolution rotary potentiometer: A high-resolution rotary potentiometer accurately measures ankle and knee angles for real-time adjustments, enabling smooth walk.
- Impedance control: The impedance control system uses sensor data to mimic natural ankle functionality adapting to various walking conditions for a seamless and efficient walking experience.
- Biarticular SEA: The prototype uses a Biarticular Motor of nominal rating 100 W and helical springs.
- Uniarticular SEA: It uses a Uniarticular Motor nominal rating of 50 W and helical springs, which may be enclosed in nylon housing to prevent buckling.
- Ankle joint: The ankle joint mimics the uniarticular (Soleus and Tibialis Anterior) and biarticular (Gastrocnemius) muscles at the ankle to provide required torque and power during gait cycle.
- Thigh cuff: Thigh cuff is to be attached to a residual limb of a user.
- Socket: The socket is required for receiving the residual limb of the user.
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The prosthetic device aims to significantly improve the quality of life for below-knee amputees by providing a more natural and comfortable walking experience. It addresses the limitations of current prosthetics, potentially reducing the long-term physical complications and enhancing mobility, independence, and overall well-being for users.
- Medical devices and Orthopedics, Assistive technology
- Healthcare and rehabilitation centers for amputees
- Physical therapy and mobility assistance - sports, elderly and disability services
- Prosthetics manufacturing and development
- Retail and consumer goods
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