Documenti accessibili
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Informazioni generali |
| Autore |
Shandiz, Mohsen Akbari; Farahmand, Farzam; Osman, Noor Azuan Abu; Zohoor, Hassan |
| Pubblicato |
InTech Open Access Publisher, 2013
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| Abstract |
A two‐dimensional, seven link, nine degrees of
freedom biped model was developed to investigate the
dynamic characteristics of normal and transfemoral
amputee locomotion during the entire gait cycle. The
equations of motion were derived using the Lagrange
method and the stance foot‐ground contact was
simulated using a five‐point penetration model. The
joint driving torques were obtained using forward
dynamic optimization of the normal human gait and
applied to the intact joints of the amputee. Three types
of motion controllers; frictional, elastic and hydraulic
were considered for the prosthetic joints of the amputee
and their design parameters were optimized to achieve
the closest kinematics to that of the normal gait. It was
found that, if optimally designed, all three passive
controllers could reasonably reproduce a normal
kinematical pattern in the swing phase. However, the
stance phase kinematics could only be replicated by the
hydraulic and elastic controllers; the performance of the
latter was highly sensitive to the design parameters. It
was concluded that an appropriately designed
hydraulic motion controller can provide reasonably
normal kinematics and reliable stability for stance knee
flexion prostheses. |
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International Journal of Advanced Robotic Systems
Autore: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Pubblicato: 2004
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