A powered ankle prothesis driven by EHA technique

There are many limitations in passive ankle prosthesis which are widely used so far. Meanwhile succeed commercial product has not been push out yet although the study of powered ankle prosthesis is ongoing. One of the main reason is that it is difficult to integrate the mechanism with limited weight, which have enough instantaneous power to promote the body forward. In this paper, a powered ankle prosthesis driven by EHA (Electro-Hydraulic Actuator) technique is proposed to solve this problem. It is mainly composed of peripheral mechanism and embedded hydraulic system which contains accumulator, plunger pump, motor, solenoid valve, miniature hydraulic circuit. The prototype with this structure is similar in quality and volume to a real ankle and is verified to match the true ankle performance.