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.
Differentially Flat Prosthetic Leg for Unilateral Transfemoral Amputees
Mechan. Machine Science
USCToMM Symposium on Mechanical Systems and Robotics ; 2022 ; Rapid City, SD, USA May 19, 2022 - May 21, 2022
Proceedings of the 2022 USCToMM Symposium on Mechanical Systems and Robotics ; Chapter : 22 ; 262-273
2022-04-01
12 pages
Article/Chapter (Book)
Electronic Resource
English
Energy expenditure of transfemoral amputees during floor and treadmill walking with different speeds
BASE | 2015
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