Robotic Ankle-Foot Prosthesis Emulator - Data Collections with Amputees
Individual with amputation uses the emulator:
An individual with unilateral trans-tibial amputation walks using the
robotic ankle-foot prosthesis emulator.
The treadmill belt speed is 1.25 m/s,
push-off work is about twice that of the intact ankle at the same speed,
and the subject has had several sessions to acclimate to the device.
Developed by Steve Collins and Josh Caputo at the
Experimental Biomechatronics Lab at
Carnegie Mellon University.
Video by Roberto Quesada.
Download: AVI (3 MB).
Random changes in push-off work:
The prosthesis is controlled by a very powerful off-board motor and computer,
which allows on-line selection from among an exceptionally large range of behaviors.
In this video, net push-off work per step is varied from 0 to 30 Joules,
or about 0 to 11 times the value for normal walking.
The subject with below-knee amputation is walking at 1.25 m/s.
Emulator developed by
Steve Collins
and Josh Caputo at the
Experimental Biomechatronics Lab.
Video by Steve Collins.
Download: AVI (7 MB).
Emulator in the shank reference frame:
Toe motion, series spring deflection, and spring heel motion can be seen more clearly in this video,
which was captured using a camera mounted to the prosthesis pylon.
The subject with below-knee amputation is walking at 1.25 m/s,
and push-off work is about twice that of the intact ankle at the same speed.
Developed by
Steve Collins
and Josh Caputo at the
Experimental Biomechatronics Lab.
Video by Josh Caputo and
Roberto Quesada.
Download: AVI (2 MB).
Robotic Ankle-Foot Prosthesis Emulator - Data Collection with Simulator Boot
Non-amputee uses the emulator:
An individual walks on the robotic ankle-foot prosthesis emulator using a boot that simulates amputation.
Taken on the third day of collections, following acclimation.
The treadmill belt speed is 1.25 m/s.
Developed by Steve Collins and Josh Caputo at the
Experimental Biomechatronics Lab at
Carnegie Mellon University.
Video by Josh Caputo.
Download: AVI (3 MB).
Robotic Ankle-Foot Prosthesis Emulator - High-Speed Video
High-speed video during treadmill walking:
High-speed video of the prosthesis end-effector during walking at 1.25 m/s on a treadmill.
Playback is at 30% of the original speed.
Developed by Steve Collins and Josh Caputo at the
Experimental Biomechatronics Lab.
Video by Steve Collins.
Download: AVI (2 MB).
High-speed video of emulator function:
High-speed video of the prosthesis end-effector during a short bout of over-ground walking.
Playback is at 25% of the original speed.
Developed by Steve Collins and Josh Caputo at the
Experimental Biomechatronics Lab at
Carnegie Mellon University.
Video by Steve Collins.
Download: AVI (3 MB).