Development and Evaluation of a Powered Artificial Gastrocnemius for Transtibial Amputee Gait

Figure 4

Knee orthosis and socket attachment. Rendering of the powered AG knee orthosis is shown with the robotic knee joint and powered ankle-foot prosthesis (a). A side-view of the same is shown, with arrows indicating the intended applied torque from the knee actuator and the resulting tangential force on the socket from the actuator (b). Also shown is the bearing assembly with resulting degrees of freedom (c) that is mounted on the socket attachment of the orthosis. This assembly transmits the tangential force from the actuator while allowing for motion from the polycentric knee joints as well as misalignment in the orthosis.

(a)

(b)

(c)