Fig 1.
A novel powered ankle-foot prosthesis.
(a) schematic diagram of SE+UPEA. (b) 3D model of the novel ankle-foot prosthesis. (c) exploded view of 3D model: 1–motor module, 2–harmonic drive module, 3–standard adapter, 4–two-stage cable drive module, 5–SE module, 6–UPE module, 7–ESAR foot part. (d) prototype used in the third and fourth trials. (e) prototype with the bypass system and auxiliary materials for the trials.
Fig 2.
Diagram of typical motion in one gait cycle of normal walking and normal walking with sticks.
(a) normal walking; (b) normal walking with sticks.
Fig 3.
Placement of reflective markers of the optic motion capture system in the first and second trials.
Fig 4.
Placement of reflective markers of the optic motion capture system in the third and fourth trials.
Table 1.
Stride characteristics in four trials.
Fig 5.
Lower-limb joints’ angles in the sagittal plane on the affected side.
(a) right ankle angle; (b) right knee angle; (c) right hip angle. DF: dorsiflexion, PF: plantarflexion, Flex: flexion, Ext: extension.
Fig 6.
Lower-limb joints’ moments in the sagittal plane on the affected side.
(a) right knee moment; (b) right hip moment. DF: dorsiflexion, PF: plantarflexion, Flex: flexion, Ext: extension.
Fig 7.
Ground reaction forces in the sagittal plane on the affected side.
(a) component along the Z axis (b) component along the X axis.
Fig 8.
Lower-limb joints’ angles in the sagittal plane on the unaffected side.
(a) left ankle angle; (b) left knee angle; (c) left hip angle. DF: dorsiflexion, PF: plantarflexion, Flex: flexion, Ext: extension.
Fig 9.
Lower-limb joints’ moments in the sagittal plane on the unaffected side.
(a) left ankle moment; (b) left knee moment; (c) left hip moment. DF: dorsiflexion, PF: plantarflexion, Flex: flexion, Ext: extension.
Fig 10.
Ground reaction forces in the sagittal plane on the unaffected side.
(a) component along the Z axis (b) component along the X axis.