Adaptive Foot in Lower-Limb Prostheses

Table 6

Comparison of hybrid adaptive foot prostheses/foot designs in lower-limb prostheses.

Country	Name/year/reference number	Weight	Passive Joint	Actuator	Axis of rotation	Type of mechanism	Movable ranges	Attaching method	Material
Japan	Parallel four-bar linkage humanoid robot (2007); [20]	0.76 kg	Toe mechanism	1 DC servo motor	Mediolateral axis at MTP joint	Actuator based	0 : 44°	Humanoid ankle	Extra super duralumin
USA	Energy recycling foot; (2010); [21, 22]	1.37 kg	Springs and clutches based mechanism	2 DC motors	Mediolateral axis at MTP joint	Coil Springs, clutch motor	N/A	Pyramid adapter	7075-T6 Aluminum, Stainless steel, Carbon/fiberglass
Japan	Adaptive bipedal deformable feet; (2012); [23]	1.2 kg	Torsional Springs	2 Servo motors	Mediolateral axis at MTP joint	Torsional springs and servo motor combination	N/A	Nut and Bolt	Super soft urethane resin
Germany	An adaptive sensor foot for a bipedal and quadruped robot (2012); [24]	N/A	Bowden cables and dampers	2 BLDC motors	Mediolateral axis at MTP joint	Windlass mechanism	roll −20° to 10° pitch −30° to 20° yaw −10° to 10°	Coupling	Rapid prototyping material
Belgium	The AMP-foot 1.0; (2012); [25]	3 kg	Spring-based gear mechanism	N/A	Mediolateral axis at MTP joint	Spring, planter gear mechanism	0 : 30°	Coupling	Aluminum
Belgium	The AMP-foot 2.0; (2013); [26, 27]	2.5 kg	Lever arm and spring combined mechanism	1 DC motor	Mediolateral axis at MTP joint	Springs and SEA	0 : 45°	Prosthesis ankle joint	Aluminum
United Kingdom	Virtual prototyping of a semiactive transfemoral prosthetic leg; (2015); [28]	2.3 kg	Springs	1 DC motor	Mediolateral axis at MTP joint	SEA and springs	N/A	Nut and bolt	N/A
Italy	Variable compliant humanoid foot (2016); [29]	0.52 kg	Leaf springs, cam followers based method	1 DC geared motor	Longitudinal axis of the foot	Leaf spring, motor actuated	N/A	Humanoid ankle	Aluminum, rubber
China	Bioinspired tunable stiffness robotic foot (2017); [30]	N/A	Spring	Stepper motor	Mediolateral axis and longitudinal axis	Spring and ball screw	N/A	Ball joint	N/A