Design and Development of a Quasi-Passive Transtibial Biarticular Prosthesis to Replicate Gastrocnemius Function in Walking

Abstract

Lower-limb amputees experience many gait impairments and limitations. Some of these impairments can be attributed to the lack of a functioning biarticular gastrocnemius (GAS) muscle. We propose a transtibial prosthesis that implements a quasi-passive spring mechanism to replicate GAS function. A prototype biarticular prosthesis (BP) was designed, built, and tested on one subject with a transtibial amputation. They walked on an instrumented treadmill with motion capture under three different biarticular spring stiffness conditions. A custom-developed OpenSim musculoskeletal model, which included the BP, was used to calculate the work performed and torque applied by the BP spring on the knee and ankle joints. The BP functioned as expected, generating forces with similar timing to GAS. Work transfer occurred from the ankle to the knee, with stiffer springs transferring more energy. Driven mostly by kinematics, the quasi-passive design of the BP consumed very low power (5.15 W average) and could lend itself well to future lightweight, low-power designs.