Self-Contained 2-DOF Ankle-Foot Prosthesis with Low-Inertia Extremity for Agile Walking on Uneven Terrains

- All-In-One design including the battery and electronics
- 2.25 kg comparable to commercial 1-DOF prostheses
- Extremely low inertia at distal frames
- Unidirectional flexion assist spring at the proximal part

% Submitted to IEEE IROS2021 and RA-L.
% Supported by Hugo Dynamics & Korea Institute of Machinery & Materials