ArticleFrontiers in neurorobotics2018
The Challenges and Achievements of Experimental Implementation of an Active Transfemoral Prosthesis Based on Biological Quasi-Stiffness: The CYBERLEGs Beta-Prosthesis.
Article in Frontiers in neurorobotics, 2018. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 9 papers.
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Who cites it
9 citing papers in PubMed.
- User preference in the personalized control of an ankle prosthesis: a case study.Journal of neuroengineering and rehabilitation · 2026Article
- Contributions to the Dynamic Regime Behavior of a Bionic Leg Prosthesis.Biomimetics (Basel, Switzerland) · 2023Article
- Gait Alteration in Individual with Limb Loss: The Role of Inertial Sensors.Sensors (Basel, Switzerland) · 2023Review
- Testing and evaluation of lower limb prosthesis prototypes in people with a transfemoral amputation: a scoping review on research protocols.Journal of neuroengineering and rehabilitation · 2023Article
- Design and evaluation of the pneumatic leg prosthesis ERiK to assist elderly amputees with sit-down and stand-up movements.Wearable technologies · 2023Article
- Effects of simulated reduced gravity and walking speed on ankle, knee, and hip quasi-stiffness in overground walking.PloS one · 2022Article
- Mechanisms and component design of prosthetic knees: A review from a biomechanical function perspective.Frontiers in bioengineering and biotechnology · 2022Review
- A Review of Gait Phase Detection Algorithms for Lower Limb Prostheses.Sensors (Basel, Switzerland) · 2020Review
- Walking with a powered ankle-foot orthosis: the effects of actuation timing and stiffness level on healthy users.Journal of neuroengineering and rehabilitation · 2020Article
Corrections and comments
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Authors and funding
9 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
The CYBERLEGs Beta-Prosthesis is an active transfemoral prosthesis that can provide the full torque required for reproducing average level ground walking at both the knee and ankle in the sagittal plane. The prosthesis attempts to produce a natural level ground walking gait that approximates the joint torques and kinematics of a non-amputee while maintaining passively compliant joints, the stiffnesses of which were derived from biological quasi-stiffness measurements. The ankle of the prosthesis consists of a series elastic actuator with a parallel spring and the knee is composed of three different systems that must compliment each other to generate the correct joint behavior: a series elastic actuator, a lockable parallel spring and an energy transfer mechanism. Bench testing of this new prosthesis was completed and demonstrated that the device was able to create the expected torque-angle characteristics for a normal walker under ideal conditions. The experimental trials with four amputees walking on a treadmill to validate the behavior of the prosthesis proved that although the prosthesis could be controlled in a way that allowed all subjects to walk, the accurate timing and kinematic requirements of the output of the device limited the efficacy of using springs with quasi-static stiffnesses. Modification of the control and stiffness of the series springs could provide better performance in future work.
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