On the Usability of Polymer-Based Artificial Tendons for Elastic Energy Storage in Active Ankle Prostheses.

Abstract

In the recent past, the development of lower-limb prostheses has taken a new turn with the emergence of active systems. However, their intrinsic wearable nature induces strict requirements regarding weight and encumbrance. In order to reduce the load - and thus the bulkiness - of their active part, several prototypes leverage the concept of compliant actuation, consisting in including an elastic element in parallel and/or in series with the actuator. In this paper, we explore the usability of polymer compliant ropes placed in parallel with the actuator of an ankle prosthesis. Ropes are intrinsically light and compact, and thus offer several advantages as compared to more traditional coil or leaf springs. Polymer materials were selected for their high energy density and yield strength. We conducted a set of experimental tests with several ropes, pretension levels, and periodic loading profiles. Results show that polymer-based ropes have a high potential for ankle assistance devices, since they can store the required energy in a low volume. However, further research should be conducted to improve their efficiency, since we estimated that only about 50% of the stored energy can be released, with few variations as a function of the rope preconditioning and loading profile.