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Full-Text Articles in Mechanical Engineering
Anthropomorphic Robotic Ankle-Foot Prosthesis With Active Dorsiflexion- Plantarflexion And Inversion-Eversion, Evandro Ficanha
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 …
Ankle Impedance And Ankle Angles During Step Turn And Straight Walk: Implications For The Design Of A Steerable Ankle-Foot Prosthetic Robot, Evandro M. Ficanha
Ankle Impedance And Ankle Angles During Step Turn And Straight Walk: Implications For The Design Of A Steerable Ankle-Foot Prosthetic Robot, Evandro M. Ficanha
Dissertations, Master's Theses and Master's Reports - Open
During locomotion, turning is a common and recurring event which is largely neglected in the current state-of-the-art ankle-foot prostheses, forcing amputees to use different steering mechanisms for turning, compared to non-amputees. A better understanding of the complexities surrounding lower limb prostheses will lead to increased health and well-being of amputees. The aim of this research is to develop a steerable ankle-foot prosthesis that mimics the human ankle mechanical properties. Experiments were developed to estimate the mechanical impedance of the ankle and the ankles angles during straight walk and step turn. Next, this information was used in the design of a …