Load carriage effects on a robotic transtibial prosthesis

Joseph Hitt, Thomas Sugar

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

6 Scopus citations

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 - Dec 1 2010
EventInternational Conference on Control, Automation and Systems, ICCAS 2010 - Gyeonggi-do, Korea, Republic of
Duration: Oct 27 2010Oct 30 2010

Publication series

NameICCAS 2010 - International Conference on Control, Automation and Systems

Other

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

Keywords

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

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

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  • 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] (ICCAS 2010 - International Conference on Control, Automation and Systems).