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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

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Figures

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Fig. 1

A 2DOF ankle–foot prosthesis

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Fig. 2

Detail of the 2DOF ankle–foot prosthesis

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Fig. 3

Impedance controllers for the ankle–foot prosthesis

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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

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