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Design and analysis of active transtibial prosthesis function using 7-link inverse dynamic model of gait

Published online by Cambridge University Press:  27 April 2023

Hossein Rostami Barooji Open the ORCID record for Hossein Rostami Barooji [Opens in a new window] ,
Abdolreza Ohadi Open the ORCID record for Abdolreza Ohadi [Opens in a new window]  and
Farzad Towhidkhah
Hossein Rostami Barooji
Affiliation:
Department of Mechanical Engineering, Amirkabir University of Technology, Tehran, Iran
Abdolreza Ohadi*
Affiliation:
Department of Mechanical Engineering, Amirkabir University of Technology, Tehran, Iran
Farzad Towhidkhah
Affiliation:
Department of Biomedical Engineering, Amirkabir University of Technology, Tehran, Iran
*
Corresponding author. Abdolreza Ohadi; Email: a_r_ohadi@aut.ac.ir
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Abstract

In today’s world, in order to increase the movement abilities of amputees, different types of passive prostheses are used according to the level of the person’s disability. Although these types of prostheses increase a person’s mobility; however, they still have a limited ability to help the amputee walk normally on uneven terrain, as there is no net stimulus input power for the target joint. These limitations have led to the growth of the use of active prostheses in recent years, which has led to a variety of prosthetic designs. The purpose of this research is, first of all, to provide a suitable design and control of active transtibial prosthesis close to the performance of lost limb of a healthy person, and second and more importantly, to develop a 7-link inverse dynamic model of human gait and use it to analyze of an amputee gait with the designed prosthesis. Winter’s reference data are used in the entire process of design and simulation of prosthesis performance. Also, it is assumed that the amputation occurred in only one leg of the person. Based on the obtained results, when an amputee with 57 kg weight and 1.55 cm height wears an active prosthesis designed with 0.5 kg extra weight, the amount of metabolic cost of amputee in the swing phase increases by about 20%. By using this obtained model, it will be possible to optimize different prosthesis designs for people with different weight and height conditions.

Keywords

transtibial prosthesisdesignactive prosthesisgaitinverse dynamic7-link modelamputeemetabolic cost
Type
Research Article
Information
Robotica , Volume 41 , Issue 8 , August 2023 , pp. 2337 - 2364
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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