An Ankle-Foot Prosthesis for Rock Climbing Augmentation

• Published in: IEEE transactions on neural systems and rehabilitation engineering Vol. 29; pp. 41 - 51
• Main Authors: Rogers, Emily A., Carney, Matthew E., Yeon, Seong Ho, Clites, Tyler R., Solav, Dana, Herr, Hugh M.
• Format: Journal Article
• Language: English
• Published: United States IEEE 2021; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuators; Amputation; Ankle; Assistive technology; Biomechanics; biomechatronics; Climbing; Degrees of freedom; Electromyography; Evaluation; Feet; Foot; Hip; Joints (anatomy); Knee; Legged locomotion; Maneuvers; Plantar flexion; Prostheses; prosthesis design; Prosthetics; quasi-passive; Range of motion; rehabilitation robotics; Robotics; Rock climbing; Rocks; Silicones; Torque; wearable robots

This research presents the design and preliminary evaluation of an electromyographically (EMG) controlled 2-degree-of-freedom (DOF) ankle-foot prosthesis designed to enhance rock climbing ability in persons with transtibial amputation. The prosthesis comprises motorized ankle and subtalar joints, an...