Technical Brief

Cable-Driven Two Degrees-of-Freedom Ankle–Foot Prosthesis1

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

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 55905

DOI: 10.1115/1.4033734Manuscript received March 1, 2016; final manuscript received March 16, 2016; published online August 1, 2016. Editor: William Durfee.

J. Med. Devices 10(3), 030902 (Aug 01, 2016) (2 pages) Paper No: MED-16-1077; doi: 10.1115/1.4033734 History: Received March 01, 2016; Revised March 16, 2016

First Page Preview

View Large
First page PDF preview
Copyright © 2016 by ASME
Your Session has timed out. Please sign back in to continue.


Browning, R. , Modica, J. , Kram, R. , and Goswami, A. , 2007, “ The Effects of Adding Mass to the Legs on the Energetics and Biomechanics of Walking,” Med. Sci. Sports Exercise, 39(3), pp. 515–525. [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]
Ficanha, E. M. , Rastgaar, M. , and Kaufman, K. R. , 2015, “ Ankle Mechanics During Sidestep Cutting Implicates Need for 2-Degrees of Freedom Powered Ankle-Foot Prostheses,” J. Rehabil. Res Dev., 52(1), pp. 97–112. [CrossRef] [PubMed]
Taylor, M. J. D. , Dabnichki, P. , and Strike, S. C. , 2005, “ A Three-Dimensional Biomechanical Comparison Between Turning Strategies During the Stance Phase of Walking,” Hum. Mov. Sci., 24(4), pp. 558–573. [CrossRef] [PubMed]
Bellman, R. D. , Holgate, M. A. , Sugar, T. G. , Bellman, R. D. , Holgate, M. A. , and Sugar, T. G. , 2008, “ SPARKy 3: Design of an Active Robotic Ankle Prosthesis With Two Actuated Degrees of Freedom Using Regenerative Kinetics,” 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BIOROB), Scottsdale, AZ, Oct. 19–22, pp. 511–516.
Goldfarb, M. , 2010, Powered Robotic Legs—Leaping Toward the Future, National Institute of Biomedical Imaging and Bioengineering, Bethesda, MD.
Herr, H. M. , and Grabowski, A. M. , 2012, “ Bionic Ankle-Foot Prosthesis Normalizes Walking Gait for Persons With Leg Amputation,” Proc. Biol. Sci., 279(1728), pp. 457–464. [CrossRef] [PubMed]
Rouse, E. , Hargrove, L. , Perreault, E. , Peshkin, M. , and Kuiken, T. , 2013, “ Development of a Mechatronic Platform and Validation of Methods for Estimating Ankle Stiffness During the Stance Phase of Walking,” ASME J. Biomech. Eng., 135(8), pp. 10091–10098. [CrossRef]
Lee, H. , Krebs, H. I. , and Hogan, N. , “ Linear Time-Varying Identification of Ankle Mechanical Impedance During Human Walking,” ASME Paper No. DSCC2012-MOVIC2012-8674.
Au, S. K. , Herr, H. , Weber, J. , and Martinez-Villalpando, E. C. , 2007, “ Powered Ankle-Foot Prosthesis for the Improvement of Amputee Ambulation,” 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (IEMBS), Lyon, France, Aug. 22–26, pp. 3020–3026.
Rao, S. S. , Boyd, L. A. , Mulroy, S. J. , Bontrager, E. L. , Gronley, J. K. , and Perry, J. , 1998, “ Segment Velocities in Normal and Transtibial Amputees: Prosthetic Design Implications,” IEEE Trans. Rehabil. Eng., 6(2), pp. 219–226. [CrossRef] [PubMed]


Grahic Jump Location
Fig. 1

A 2DOF ankle–foot prosthesis

Grahic Jump Location
Fig. 2

Detail of the 2DOF ankle–foot prosthesis

Grahic Jump Location
Fig. 3

Impedance controllers for the ankle–foot prosthesis

Grahic Jump Location
Fig. 4

Trajectories of the ankle–foot prosthesis (output) following the recorded human ankle kinematics (input) with a time shift of 40 ms for easier visualization



Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In