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The aim of the prosthetic devices is to replicate the able-bodied angle-torque profile of a healthy human during locomotion. A lightweight and energy-efficient ankle joint is able to lower the actuator peak power and/or energy consumption per gait cycle, while adequately fulfilling the profile matching constraints. This study presents the design optimization of the prosthetic ankle joint containing an elastic element and actuator coupled with a rigid triangular part. The dimensions of the ankle joint triangular part were optimized to minimize actuator peak power and maximize spring energy within its elastic limits. As a result of series simulation tests, at 1.1 and 1.6 m/s walking speeds, the simulation of dorsi/plantar flexion shows up to 78.8% and 66.98% reduction in motor peak power compared to a direct drive system, respectively. Low power ankle-prosthetic device that closely matches the angle-torque profile of a healthy human's ankle, is one of the key parameters for the cost-effectiveness of lower limb prostheses.
Bilal et al. (2022) studied this question.