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Walking with a Powered Cable Driven Ankle-Foot Prosthesis
REGISTER HERE: In the United States, there are approximately two million amputees. Among them, there are six hundred thousand people with below knee amputation who are in need of suitable ankle-foot prosthesis to regain an agile and stable gait. In this talk, we will review the design and dynamic modeling of a novel two degree of freedom ankle-foot prosthesis. The prosthesis is composed of two brushless motors connected to a carbon fiber foot using Bowden cables. The motors control both dorsi-plantarflexion and inversion-eversion degrees of freedom. This will help amputees to walk, turn or go upstairs-downstairs. Owing to the use of Bowden cables, the motors and electronics can be placed in a fanny pack and carried around the waist. This will allow amputees to walk with a light and comfortable prosthesis, keeping the actuators, electronics and batteries close to the waist. The recent work on control of the ankle-foot prosthesis inspired by human walking will be presented which is composed of several distinct kinematic events, namely the heel strike, push-off, and swing phase. The prosthesis can detect these kinematic events using the strain gauges mounted on the carbon fiber foot. Then, impedance control is used in each kinematic phase to provide a stable gait. Lastly, the ongoing and future work will be discussed to address the remaining control challenges due to variations in speed, step size, and the type of the gait. Dr. Houman Dallali is currently an Assistant Professor of Computer Science and Mechatronics at California State University, Channel Islands California. From 2012 to 2015, he was a Post-Doctoral Research Associate at the Department of Advanced Robotics, Italian Institute of Technology, in Genova, Italy, where he worked on modeling, simulation, and control of CoMan and WALK-MAN humanoid robots. He then joined the Human-Interactive Robotics laboratory at Michigan Technological University as a Post-Doctoral Research Associate from 2015 to 2017, where he focused on the development of walking control systems for an untethered and powered ankle-foot prosthesis.

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California Lutheran University, Gilbert Sports and Fitness Center

130 Overton Court, 2nd Floor, Rooms 253/254 · Thousand Oaks, CA

What we're about

The IEEE Buenaventura Meetup Group is the gathering place of the IEEE Buenaventura Section ( and its ten chapters. We are very active. Our events are open to anyone interested in advances in technology that benefit the well being of humanity, IEEE members or non-members. Our group is a non-profit 401(c)3 organization. Most of our events are free of charge. We organize more than 50 speaker talks each year.

The mission of our IEEE Buenaventura Section is to:

• Align great speakers to make it convenient for engineers/scientists/technical educators from Ventura County to remain relevant about advances in their field. We cover the following engineering areas of expertise: aerospace, communications, biology and medicine, electronic devices, circuitry systems, microwave, robotics, automation process, and photonics/imaging.

• Organize technical literacy events (STEM events) for for middle schools, high schools and colleges in Ventura County

• Present Entrepreneurship workshops to help the technical inventor set up his own startup.

• Create Networking events to align graduates with employers or professionals in transition with potential opportunities.

Note: The IEEE Buenaventura Section is the local volunteer representation of the Institute of Electrical and Electronics Engineers (IEEE), a large technical society in the world, with over 400,000 members. About 1,000 IEEE members live or work in Ventura County.

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