This paper investigates the ability of a two-link underactuated system acting as a transfemoral prosthetic leg to generate a natural looking symmetric gait. During walking, following a predefined natural leg trajectory may not be required as long as the trajectory allows for ground clearance of the swinging leg. The prosthesis is powered by the hip and has a passive knee joint. It is designed to be differentially flat which enables us to deal with the challenging problem of planning. Numerical optimization is used to generate flat output trajectories. The proposed methodology is supported with simulation.


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    Title :

    Differentially Flat Prosthetic Leg for Unilateral Transfemoral Amputees


    Additional title:

    Mechan. Machine Science



    Conference:

    USCToMM Symposium on Mechanical Systems and Robotics ; 2022 ; Rapid City, SD, USA May 19, 2022 - May 21, 2022



    Publication date :

    2022-04-01


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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