Special Section Technical Briefs

Gait Emulator for Evaluation of Ankle–Foot Prostheses Capable of Turning1

[+] Author and Article Information
Evandro Ficanha, Mohammad Rastgaar

Department of Mechanical
Engineering–Engineering Mechanics,
Michigan Technological University,
Houghton, MI 49931

Kenton R. Kaufman

Department of Orthopedic Surgery,
Mayo Clinic and Mayo Foundation University,
Rochester, MN 55902

Accepted and presented at The Design of Medical Devices Conference (DMD2015), April 13–16, 2015, Minneapolis, MN, USA.

Manuscript received March 3, 2015; final manuscript received March 17, 2015; published online July 16, 2015. Editor: Arthur Erdman.

J. Med. Devices 9(3), 030908 (Sep 01, 2015) (2 pages) Paper No: MED-15-1064; doi: 10.1115/1.4030546 History: Received March 03, 2015; Revised March 17, 2015; Online July 16, 2015

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Richter, H., Simon, D., Smith, W. A., and Samorezov, S., 2014, “Dynamic Modeling, Parameter Estimation and Control of a Leg Prosthesis Test Robot,” Appl. Math. Modell., 39(2), pp. 559–573. [CrossRef]
Glaister, B. C., Bernatz, G. C., Klute, G. K., and Orendurff, M. S., 2007, “Video Task Analysis of Turning During Activities of Daily Living,” Gait Posture, 25(2), pp. 289–294. [CrossRef] [PubMed]
Glaister, B. C., Orendurff, M. S., Schoen, J. A., Bernatz, G. C., and Klute, G. K., 2008, “Ground Reaction Forces and Impulses During a Transient Turning Maneuver,” J. Biomech., 41(4), pp. 3090–3093. [CrossRef] [PubMed]
Kang, H. G., and Dingwell, J. B., 2008, “Separating the Effects of Age and Walking Speed on Gait Variability,” Gait Posture, 27(4), pp. 572–577. [CrossRef] [PubMed]


Grahic Jump Location
Fig. 1

Gait emulator and circular treadmill and its main components

Grahic Jump Location
Fig. 2

Top view of the gait emulator and circular treadmill

Grahic Jump Location
Fig. 3

Block diagram of the lifting mechanism controller. The input is a sine wave with amplitude of A degrees of the cable drum rotation, frequency of steps ω, and phase shift Ø to synchronize the gait emulator to the motion of the ankle–foot prostheses.

Grahic Jump Location
Fig. 4

Gait emulator and a prosthetic ankle–foot robot with two controllable DOFs in both the frontal and sagittal planes at different states of the gait. (a) Heel-strike, (b) foot-flat, and (c) push-off.



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