Testing an Electrohydrostatic Powered Ankle Prosthesis with Transtibial and Transfemoral Amputees

Tian Yu, Andrew Plummer, Pejman Iravani, Jawaad Bhatti, Saeed Zahedi, David Moser

Research output: Chapter or section in a book/report/conference proceedingChapter in a published conference proceeding

10 Citations (SciVal)


Powered lower-limb prostheses have the potential to assist amputees in the push-off phase during level walking, as well as stair and slope ascent. Compared to electromechanical actuation, the advantages of using eletrohydrostatic actuation (EHA) including high power density, low noise and good controllability. Especially for the application in lower limb prosthetic joints, an EHA provides a quick and smooth switch between passive and active operation modes. This paper presents the testing results using a new eletrohydrostatic powered ankle prosthesis which combines an EHA with a controllable passive damper. The new powered ankle prosthesis has been tested by both a transtibial and a transfemoral amputee. The test results show that the ankle prosthesis can provide sufficient power to assist toe push-off and subsequent foot lift (dorsiflexion) and operating passively in the rest of a gait cycle. The test results are compared with the ankle dorsiflexion angle and torque for healthy subjects. The timing control method and the performance of the EHA are discussed.
Original languageEnglish
Title of host publication7th IFAC Symposium on Mechatronic Systems
Number of pages7
Publication statusPublished - 2016
Event7th IFAC Symposium on Mechatronic Systems - Loughborough University, Loughborough, UK United Kingdom
Duration: 5 Sept 20168 Sept 2016


Conference7th IFAC Symposium on Mechatronic Systems
Abbreviated titleMechatronics 2016
Country/TerritoryUK United Kingdom


  • EHA
  • powered ankle prosthesis


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