Heremans, FrancoisVijayakumar, SethuBouri, MohamedDehez, BrunoRonsse, Renaud2020-10-082020-10-082020-10-082019-01-0110.1109/ICORR.2019.8779421https://infoscience.epfl.ch/handle/20.500.14299/172310WOS:000570975800067Over the last decade, active lower-limb prostheses demonstrated their ability to restore a physiological gait for transfemoral amputees by supplying the required positive energy balance during daily life locomotion activities. However, the added-value of such devices is significantly impacted by their limited energetic autonomy, excessive weight and cost, thus preventing their full appropriation by the users. There is thus a strong incentive to produce active yet affordable, lightweight and energy efficient devices. To address these issues, we developed the ELSA (Efficient Lockable Spring Ankle) prosthesis embedding both a lockable parallel spring and a series elastic actuator, tailored to the walking dynamics of a sound ankle. The first contribution of this paper concerns the developement of a bio-inspired, lightweight and stiffness-adjustable parallel spring, comprising an energy efficient ratchet and pawl mechanism with servo actuation. The second contribution is the addition of a complementary rope-driven series elastic actuator to generate the active push-off. The system produces a sound ankle torque pattern during flat ground walking. Up to 50% of the peak torque is generated passively at a negligible energetic cost (0.1 J/stride). By design, the total system is lightweight (1.2 kg) and low cost.text::conference output::conference proceedings::conference paper