Title :
Simplified Analytical Dynamic Model for a Parallel Prosthetic Elbow
Author :
Mendoza-Vazquez, R. ; Escudero-Uribe, A.Z. ; Fernandez-Mulia, R.
Author_Institution :
Inst. Nac. de Astrofis. Opt. y Electron., Puebla
Abstract :
A three degree of freedom elbow prosthesis impelled by linear actuators disposed in parallel is modeled by the Lagrange-Euler method. The method proposes to replace a parallel mechanism with an equivalent serial topology with the purpose of calculating the Lagrangian, however the parallel topology is used for the calculus of forces and torques. The result is a simplification in the mathematical analysis without an important loss in precision.
Keywords :
actuators; bone; control engineering computing; medical control systems; orthopaedics; parallel algorithms; prosthetics; Lagrange-Euler method; dynamic model; force calculation; linear actuators; mathematical analysis; parallel modeling; parallel topology; three degree of freedom elbow prosthesis; torque calculation; Analytical models; Calculus; Elbow; Hydraulic actuators; Lagrangian functions; Leg; Mathematical analysis; Payloads; Prosthetics; Topology; Biomimetics; Computer Simulation; Computer-Aided Design; Elbow; Equipment Design; Equipment Failure Analysis; Feedback; Humans; Models, Biological; Orthotic Devices; Pressure; Robotics; Stress, Mechanical; Transducers;
Conference_Titel :
Engineering in Medicine and Biology Society, 2007. EMBS 2007. 29th Annual International Conference of the IEEE
Conference_Location :
Lyon
Print_ISBN :
978-1-4244-0787-3
DOI :
10.1109/IEMBS.2007.4352967
