Load carriage effects on a robotic transtibial prosthesis

Joseph Hitt, Thomas Sugar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

The purpose of this study was to investigate the kinetic and kinematic effects of load carriage while wearing a robotic transtibial prosthesis. Nine separate tests were conducted with a unilateral transtibial amputee test subject wearing the robotic foot-ankle prosthesis. The subject walked on a treadmill at 1.3 m/s with a back pack weighing 0 kg, 4.5 kg and 9 kg. Direct measurement of the kinematics and kinetics of the robotic prosthesis at varying loads and ankle joint stiffness using embedded sensors is presented. The test data suggest that the coping strategy for load carriage is one of kinetic variance and kinematic invariance for subjects using a powered, computer controlled foot-ankle prosthesis. The finding suggests that modulation of the spring stiffness as a function of load condition may reduce system energy expenditure by 10%.

Original languageEnglish (US)
Title of host publicationICCAS 2010 - International Conference on Control, Automation and Systems
Pages139-142
Number of pages4
StatePublished - 2010
EventInternational Conference on Control, Automation and Systems, ICCAS 2010 - Gyeonggi-do, Korea, Republic of
Duration: Oct 27 2010Oct 30 2010

Other

OtherInternational Conference on Control, Automation and Systems, ICCAS 2010
CountryKorea, Republic of
CityGyeonggi-do
Period10/27/1010/30/10

Fingerprint

Robotics
Kinematics
Kinetics
Loads (forces)
Stiffness
Exercise equipment
Weighing
Invariance
Modulation
Prostheses and Implants
Sensors

Keywords

  • Bionics
  • Biorobotics
  • Load carriage
  • Powered prosthesis
  • SPARKy

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

Cite this

Hitt, J., & Sugar, T. (2010). Load carriage effects on a robotic transtibial prosthesis. In ICCAS 2010 - International Conference on Control, Automation and Systems (pp. 139-142). [5669900]

Load carriage effects on a robotic transtibial prosthesis. / Hitt, Joseph; Sugar, Thomas.

ICCAS 2010 - International Conference on Control, Automation and Systems. 2010. p. 139-142 5669900.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Hitt, J & Sugar, T 2010, Load carriage effects on a robotic transtibial prosthesis. in ICCAS 2010 - International Conference on Control, Automation and Systems., 5669900, pp. 139-142, International Conference on Control, Automation and Systems, ICCAS 2010, Gyeonggi-do, Korea, Republic of, 10/27/10.
Hitt J, Sugar T. Load carriage effects on a robotic transtibial prosthesis. In ICCAS 2010 - International Conference on Control, Automation and Systems. 2010. p. 139-142. 5669900
Hitt, Joseph ; Sugar, Thomas. / Load carriage effects on a robotic transtibial prosthesis. ICCAS 2010 - International Conference on Control, Automation and Systems. 2010. pp. 139-142
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