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Anthropomorphic Robotic Ankle-Foot Prosthesis With Active Dorsiflexion- Plantarflexion And Inversion-Eversion, Evandro Ficanha

Dissertations, Master's Theses and Master's Reports

The main goal of the research presented in this paper is the development of a powered ankle-foot prosthesis with anthropomorphic characteristics to facilitate turning, walking on irregular grounds, and reducing secondary injuries on bellow knee amputees. The research includes the study of the gait in unimpaired human subjects that includes the kinetics and kinematics of the ankle during different types of gait, in different gait speeds at different turning maneuvers. The development of a robotic ankle-foot prosthesis with two active degrees of freedom (DOF) controlled using admittance and impedance controllers is presented. Also, a novel testing apparatus for estimation of …