Conceptual Design of a Fully Passive Transfemoral Prosthesis to Facilitate Energy-Efficient Gait

Ramazan Unal, Sebastiaan Behrens, Raffaella Carloni, Edsko Hekman, Stefano Stramigioli, Bart Koopman

    Research output: Contribution to journalArticleAcademicpeer-review

    4 Citations (Scopus)
    121 Downloads (Pure)


    In this study, we present the working principle and conceptual design towards the realization of a fully-passive transfemoral prosthesis that mimics the energetics of the natural human gait. The fundamental property of the conceptual design consists of realizing an energetic coupling between the knee and ankle joints of the mechanism. Simulation results show that the power flow of the working principle is comparable to that in human gait and a considerable amount of energy is delivered to the ankle joint for the push-off generation. An initial prototype in half scale is realized to validate the working principle. The construction of the prototype is explained together with the test setup that has been built for the evaluation. Finally, experimental results of the prosthesis prototype during walking on a treadmill show the validity of the working principle.

    Original languageEnglish
    Article number8531760
    Pages (from-to)2360-2366
    Number of pages7
    JournalIEEE transactions on neural systems and rehabilitation engineering
    Issue number12
    Early online date12 Nov 2018
    Publication statusPublished - 1 Dec 2018


    • Absorption
    • Couplings
    • Foot
    • Knee
    • Legged locomotion
    • Prosthetics
    • Springs


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