Victor Prost

Visualization of hydrodynamic pilot-wave phenomena

Abstract

Passive Prosthetic Foot Shape and Size Optimization Using Lower Leg Trajectory Error

A method is presented to optimize the shape and size of a passive, energy-storing prosthetic foot using the lower leg trajectory error (LLTE) as the design objective. The LLTE is defined as the root-mean-square error between the lower leg trajectory calculated for a given prosthetic foot’s deformed shape under typical ground reaction forces (GRFs), and a target physiological lower leg trajectory obtained from published gait data for able-bodied walking. Using the LLTE as a design objective creates a quantitative connection between the mechanical design of a prosthetic foot (stiffness and geometry) and its anticipated biomechanical performance. The authors’ prior work has shown that feet with optimized, low LLTE values can accurately replicate physiological kinematics and kinetics. The size and shape of a single-part compliant prosthetic foot made out of nylon 6/6 were optimized for minimum LLTE using a wide Bezier curve to describe its geometry, with constraints to produce only shapes that could fit within a physiological foot’s geometric envelope. Given its single part architecture, the foot could be cost effectively manufactured with injection molding, extrusion, or three-dimensional printing. Load testing of the foot showed that its maximum deflection was within 0.3 cm (9%) of finite element analysis (FEA) predictions, ensuring the constitutive behavior was accurately characterized. Prototypes were tested on six below-knee amputees in India—the target users for this technology—to obtain qualitative feedback, which was overall positive and confirmed the foot is ready for extended field trials. [DOI: 10.1115/1.4040779]

Development of a Passive and Slope Adaptable Prosthetic Foot

Historically, users of prosthetic ankles have relied on actively operated systems to provide effective slope adaptability. However, there are many drawbacks to these systems. This research builds upon work previously completed by Hansen et al. as it develops a passive, hydraulically operated prosthetic ankle with the capability of adapting to varying terrain in every step. Using gait cycle data and an analysis of ground reaction forces, the team determined that weight activation was the most effective way to activate the hydraulic circuit. Evaluations of the system pressure and energy showed that although the spring damper system results in a loss of 9J of energy to the user, the footplate stores 34J more than a standard prosthesis. Therefore, the hydraulic prosthetic provides a 54% increase in stored energy when compared to a standard prosthesis. The hydraulic circuit manifold prototype was manufactured and tested. Through proof of concept testing, the prototype proved to be slope adaptable by successfully achieving a plantarflexion angle of 16 degrees greater than a standard prosthetic foot currently available on the market.Copyright

Design and Testing of a Prosthetic Foot Prototype With Interchangeable Custom Rotational Springs to Adjust Ankle Stiffness for Evaluating Lower Leg Trajectory Error, an Optimization Metric for Prosthetic Feet

A prosthetic foot prototype intended for evaluating a novel design objective for passive prosthetic feet, the Lower Leg Trajectory Error (LLTE), is presented. This metric enables the optimization of prosthetic feet by modeling the trajectory of the lower leg segment throughout a step for a given prosthetic foot and selecting design variables to minimize the error between this trajectory and target physiological lower leg kinematics. Thus far, previous work on the LLTE has mainly focused on optimizing conceptual foot architectures. To further study this metric, extensive clinical testing on prototypes optimized using this method has to be performed. Initial prototypes replicating the LLTE-optimal designs in previous work were optimized and built, but at 1.3 to 2.1 kg they proved too heavy and bulky to be considered for testing. A new, fully-characterized foot design reducing the weight of the final prototype while enabling ankle stiffness to be varied is presented and optimized for LLTE. The novel merits of this foot are that it can replicate a similar quasi-stiffness and range of motion of a physiological ankle, and be tested with variable ankle stiffnesses to test their effect on LLTE. The foot consists of a rotational ankle joint with interchangeable U-shaped constant stiffness springs ranging from 1.5 Nm/deg to 16 Nm/deg, a rigid structure extending 0.093 m from the ankle-knee axis, and a cantilever beam forefoot with a bending stiffness of 16 Nm2. The prototype was built using machined acetal resin for the rigid structure, custom nylon springs for the ankle, and a nylon beam forefoot. In preliminary * Address all correspondence to this author. testing, this design performed as predicted and its modularity allowed us to rapidly change the springs to vary the ankle stiffness of the foot. Qualitative feedback from preliminary testing showed that this design is ready to be used in larger-scale studies. In future work, extensive clinical studies with testing different ankle stiffnesses will be conducted to validate the optimization method using the LLTE as a design objective. INTRODUCTION Despite many studies comparing different prosthetic feet, multiple literature reviews have reached the same conclusion: there is little understanding of how a passive prosthetic foot design affects the gait of an amputee [1–4]. In previous work by the authors, a novel prosthetic foot design objective was proposed, the Lower Leg Trajectory Error (LLTE) [5]. This metric enables the optimization of prosthetic feet by modeling the trajectory of the lower leg segment throughout a step for a given prosthetic foot and selecting design variables values to minimize the error between this trajectory and target physiological lower leg kinematics. This method was previously used to optimize simple analytical prosthetic foot models including (i) a pinned ankle and metatarsal joint with constant rotational stiffnesses as design variables, and (ii) a pinned ankle joint and cantilever beam forefoot, where rotational ankle stiffness and the forefoot bending stiffness where varied [6]. Thus far, all work regarding LLTE has been purely theoretical. The next step in moving towards using LLTE to Proceedings of the ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference IDETC/CIE 2017 August 6-9, 2017, Cleveland, Ohio, USA

Feasibility of a Clutchless Dual-Shaft Hybrid Transmission System for Performance Applications

A novel hybrid-electric transmission concept was sought that yields higher acceleration and smoother gear-shifts compared to existing dual-clutch systems while improving the energy efficiency of the vehicle. After evaluating a range of strategies, the elimination of the clutch was identified as a viable method for reducing the vehicle’s effective inertia and viscous losses. The proposed architecture implements a single electric motor, and two separate shafts for odd and even gears, to replace the functions of a clutch. High acceleration rates can be achieved using the electric motor when launching the vehicle. Furthermore, the torque from the electric motor (EM) and internal combustion engine (ICE) can be simultaneously delivered through the two shafts to sustain this high acceleration. A 0 to 100 km/hr time of 3.18 s was simulated for a 1600 kg vehicle using a 180 kW EM and 425 kW ICE. In addition, the EM can be used to match the speeds of consecutive gears on the two shafts to reduce jerk while shifting. Shift durations were found to vary between 0.2 and 0.9 s using this strategy. Other benefits include regenerative braking and the removal of the reverse gear since the EM can rotate in either direction. It was also found that the vehicle can be operated on only electric power in urban settings represented by the NEDC driving cycle if the battery is recharged through regenerative braking, and by the ICE the vehicle is stopped.