Abstract Summary
Frontal-plane ankle motion is important for balance in walking, but is seldom controlled in robotic prostheses. This abstract describes the control and performance of a semi-active two degree of freedom robotic prosthetic ankle. The mechanism uses a nonbackdrivable cam wedge system based on rotating inclined planes, allowing actuation only during swing phases for low-power and compactness. This study investigates the speed and accuracy of ankle angle control in benchtop tests.
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