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<p>Transtibial amputees modify their gait to make up for artificial feet with inadequate functionality. However, One notable difference between most commercially available prosthetic feet and the intact human lower limb is the lack of ankle actuation for walking. In this study, a novel smart-powered prosthetic ankle (SPPA) with a semi-active magneto-rheological damper (MR) and a series elastic actuator (SEA) was designed and evaluated. The goal of the design was to mimic normal human ankle motion, exhibiting both passive (damping and stiffness) and active (push-off with power) characteristics, which change based on walking speed. Optimization of the prosthetic ankle joint’s design demonstrates up to 82% reduction in motor peak power compared to a direct-driven system at a walking speed of 1.1&#xa0;m/s. The evolution of the SPPA joint design and the parameter tuning ensure that the ankle obtains the torque-angle characteristics for normative walking, and the ankle range of motion has been validated experimentally.</p>

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Conceptual design and development of robotic prosthetic ankle using optimized magnetorheological damper

  • 期刊论文

  • 发表日期：

    2026年5月11日

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  • Sachin Kumar,
  • S. Sujatha,
  • Sujatha Chandramohan

摘要

Transtibial amputees modify their gait to make up for artificial feet with inadequate functionality. However, One notable difference between most commercially available prosthetic feet and the intact human lower limb is the lack of ankle actuation for walking. In this study, a novel smart-powered prosthetic ankle (SPPA) with a semi-active magneto-rheological damper (MR) and a series elastic actuator (SEA) was designed and evaluated. The goal of the design was to mimic normal human ankle motion, exhibiting both passive (damping and stiffness) and active (push-off with power) characteristics, which change based on walking speed. Optimization of the prosthetic ankle joint’s design demonstrates up to 82% reduction in motor peak power compared to a direct-driven system at a walking speed of 1.1 m/s. The evolution of the SPPA joint design and the parameter tuning ensure that the ankle obtains the torque-angle characteristics for normative walking, and the ankle range of motion has been validated experimentally.