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Full-Text Articles in Mechanical Engineering

Control Of A Powered Ankle-Foot Prosthesis: From Perception To Impedance Modulation, Guilherme Aramizo Ribeiro Jan 2017

Control Of A Powered Ankle-Foot Prosthesis: From Perception To Impedance Modulation, Guilherme Aramizo Ribeiro

Dissertations, Master's Theses and Master's Reports

Active ankle prostheses controllers are demonstrating gaining smart features to improve the safety and comfort offor users. The perception of user intention to modulate the ankle dynamics is a well-known example of such feature. But not much work focused on the perception of the environment, nor how the environment should be included in the mechanical design and control of the prosthesisprostheses. The proposed work aims to improve the feasibility of integrate the environment perception integration intoto the prostheses controllersler, and to define the desired ankle dynamics, as mechanical impedance, duringof the human walk on different environmental settings. As a preliminary ...


Anthropomorphic Robotic Ankle-Foot Prosthesis With Active Dorsiflexion- Plantarflexion And Inversion-Eversion, Evandro Ficanha Jan 2015

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 ...