Abstract
In this chapter, we discuss the design of the CYBERLEGs Beta-Prosthesis developed by the Vrije Universiteit Brussel (Belgium). This transfemoral prosthesis consists of compliant actuators which provide full support torques to the ankle and knee during level ground walking. To deliver an energy-efficient and compact system, the springs are combined with locking elements, and a mechanism is introduced to transfer energy from the knee to the ankle during push off. The performance of the prosthesis is evaluated by comparing bench tests to experiments with an amputee.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Flynn, L., Geeroms, J., Jimenez Fabian, R. E., Vanderborght, B., Vitiello, N., & Lefeber, D. (2015). Ankle-Knee prosthesis with Active ankle and energy transfer: Development of the CYBERLEGs Alpha-prosthesis robotics and autonomous systems, 73, 4–15.
Flynn, L., Geeroms, J., Jimenez-Fabian, R., Heins, S., Vanderborght, B., Munih, M., et al. (2018). The challenges and achievements of experimental implementation of an active transfemoral prosthesis based on biological Quasi-Stiffness: The CYBERLEGs Beta-Prosthesis. Frontiers in Neurorobotics, 12, 80.
Geeroms, J., Flynn, L., Jimenez-Fabian, R., Vanderborght, B., & Lefeber, D. (2017). Energetic analysis and optimization of a MACCEPA actuator in an ankle prosthesis. Autonomous Robots, 1–12.
Jimenez Fabian, R. E., Flynn, L., Geeroms, J., Vitiello, N., Vanderborght, B., & Lefeber, D. (2015). Sliding-bar MACCEPA for a powered ankle prosthesis. Journal of Mechanisms and Robotics (4).
Jimenez-Fabian, R., Geeroms, J., Flynn, L., Vanderborght, B., Lefeber, D. (2017). Reduction of the torque requirements of an active ankle prosthesis using a parallel spring. Robotics and Autonomous Systems, 2, 187–196.
Shepherd, M. K., & Rouse, E. J. (2017). The VSPA foot: A uasi-passive ankle-foot prosthesis with continuously variable stiffness. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 25, 2375–2386.
Van Ham, R., Vanderborght, B., van Damme, M., Verrelst, B., & Lefeber, D. (2007). MACCEPA, the mechanically adjustable compliance and controllable equilibrium position actuator: Design and implementation in a biped robot. Robotics and Autonomous Systems, 55(10), 761–768.
Winter, D. A. (2009). Biomechanics and motor control of human movement, 4th ed. Wiley.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 Springer Nature Switzerland AG
About this chapter
Cite this chapter
Flynn, L. (2021). Compliant Actuation for Transfemoral Prostheses: The CYBERLEGS Prosthesis. In: Beckerle, P., Sharbafi, M.A., Verstraten, T., Pott, P.P., Seyfarth, A. (eds) Novel Bioinspired Actuator Designs for Robotics. Studies in Computational Intelligence, vol 888. Springer, Cham. https://doi.org/10.1007/978-3-030-40886-2_11
Download citation
DOI: https://doi.org/10.1007/978-3-030-40886-2_11
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-40885-5
Online ISBN: 978-3-030-40886-2
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)