Abstract:
Simulations of walking biomechanics offer a tool for optimizing prosthesis performance while including estimates of the effects of the prosthesis on the rest of the body....Show MoreMetadata
Abstract:
Simulations of walking biomechanics offer a tool for optimizing prosthesis performance while including estimates of the effects of the prosthesis on the rest of the body. We have previously used this technique to optimize the output behaviors of a generalized prosthesis model in the sagittal plane. In this paper, we present the design of a prototype prosthesis testbed for validating generalized prosthesis model predictive simulation results with experimental feedback. Design specifications are generated from simulated prosthesis dynamics and comparison with existing powered prostheses. A complete mechatronic system design based on these specifications is presented. The design consists of two sub-systems: the ankle-foot prosthesis and a wearable off-board actuation and control system. The overall system is designed to function as a validation tool for prosthesis simulation experiments generally, and to provide experimental feedback to the simulation-based prosthesis design loop.
Published in: 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)
Date of Conference: 29 November 2020 - 01 December 2020
Date Added to IEEE Xplore: 15 October 2020
ISBN Information: