Robotic Prosthetic Foot

This ankle-foot prosthesis emulator allows experimenters to quickly write and test a variety of prosthesis controllers without needing to build specialized hardware for each type of controller, thus expediting prosthesis development.

The prosthesis has two forefoot digits and a heel digit, allowing for rotation in sagittal and frontal planes as well as vertical translation. Each digit is equipped with an encoder and strain gauges to detect angular position and applied force, respectively. Each digit is capable of providing 100 Nm of torque and is powered by a powerful offboard motor using Bowden cable actuation.

I led a team of two Master's students to design this prosthetic foot in two months. I surveyed literature for design requirements, conducted simulations to evaluate the geometry of the prosthesis, modeled the components in Solidworks, and delegated tasks to the Master's students such as designing some of the accessories of the prosthesis.

I continued to use this device for five years of my PhD, conducting hardware tests as well as human subject experiments, which resulted in four publications. The experiments focused on developing prosthesis controllers intended to improve energy expenditure and/or balance metrics for individuals with amputation. No structural components of the prosthesis ever broke during the five years of use.