41169-2A-ACAN - CAPLEX ANKLE–FOOT PROSTHESIS EMULATOR SYSTEM

BACKGROUND:
Notice is hereby given by the University of Ottawa of the intent to enter into a contract with Human Motion Technologies LLC (“Humotech”) to procure the following:

• one modular ankle–foot prosthesis tethered to an external actuation and control unit with external power supplies, with one degree of freedom (plantarflexion/dorsiflexion) and adjustable foot length, heel stiffness, and worn weight;
• one external actuator unit delivering mechanical power to the prosthesis via a Bowden cable;
• one control unit including host computer with software to interface with the actuator unit and ankle-foot prosthesis; and
• hardware accessories including cables, two lift shoes enabling use of the prosthesis by able-bodied individuals, and three sizes of simulator boot attachments.

• Dimensions: Total length 27.4 cm, width 8.10 cm, and height 23.3 cm
• Mass: Total worn mass of less than 1.10 kg
• Mechanical System:
  • One degree of freedom enabling plantarflexion/dorsiflexion of forefoot relative to hindfoot, with range of motion from more than 41° plantarflexion to more than 21.7° dorsiflexion
  • Forefoot actuated by Bowden cable tethered to external control unit, with maximum plantarflexion torque of at least 182 N·m
  • Passive heel stiffness adjustable between less than 55 N/mm and more than 115 N/mm
• Sensors:
  • Optical encoder measuring forefoot angle with at least 5,000 counts per revolution
  • Inline load cell measuring forefoot torque applied, accurate to within ± 1% or better

• Housed in an enclosure that is not worn (i.e., external to the worn prosthesis)
• Uses a 3-phase power supply between 208 VAC and 480 VAC
• Mechanical power is generated by a motor with maximum speed of at least 2,420 rpm and maximum torque of at least 125 N·m
• Mechanical power is delivered to the worn prosthesis via a Bowden cable with maximum cable speed of at least 4.83 m/s and maximum cable force of at least 6.58 kN
• Configurable and programmable via software interface on a host computer

• Ankle–foot prosthesis:
  • Total worn mass must be no greater than 1.1 kg
  • Worn device must accommodate a wide range of shoe sizes
  • Device must be accompanied with accessories enabling use by able-bodied participants (e.g., a lift shoe that can be worn on the contralateral foot when the prosthesis is worn on an intact limb)
  • Forefoot must have a range of motion of at least 41° plantarflexion and 21.7° dorsiflexion
  • Forefoot angle must be measured and recorded to within 0.1°
  • Maximum plantarflexion torque must be at least 182 N·m
  • Plantarflexion torque must be measured and recorded to within ± 1%
• External control unit:
  • Must be external to the prosthesis (i.e., not integrated into the worn components)
  • Must use 3-phase power at 480 VAC
  • Must deliver power to the worn prosthesis via a mechanical tether (e.g., a Bowden cable)
  • Must be capable of delivering sufficient mechanical power to accommodate subjects of up to 113 kg body mass or greater walking at up to 1.8 m/s or faster
  • Must be able to adjust controller parameters in real time via a graphical user interface on a host computer
• Equipment must be CSA compliant