Title :
Modeling of WalkMECH: A fully-passive energy-efficient transfemoral prosthesis prototype
Author :
Unal, R. ; Klijnstra, F. ; Burkink, B. ; Behrens, S.M. ; Hekman, E.E.G. ; Stramigioli, Stefano ; Koopman, H.F.J.M. ; Carloni, Raffaella
Author_Institution :
Robot. & Mechatron. Eng. Lab., Univ. of Twente, Enschede, Netherlands
Abstract :
In this paper we present the port-based model of WalkMECH, a fully-passive transfemoral prosthesis prototype that has been designed and realized for normal walking. The model has been implemented in a simulation environment so to analyze the performance of the prosthetic leg in walking experiments and so to enhance the mechanics of the system. The accuracy of the model has been validated by experimental tests with a unilateral amputee participant.
Keywords :
CAD; mechanical engineering computing; prosthetics; robot kinematics; WalkMECH modeling; fully-passive energy-efficient transfemoral prosthesis prototype; port-based model; prosthetic leg; simulation environment; system mechanics; unilateral amputee participant; walking experiments; Couplings; Hip; Joints; Knee; Prosthetics; Solid modeling; Springs;
Conference_Titel :
Rehabilitation Robotics (ICORR), 2013 IEEE International Conference on
Conference_Location :
Seattle, WA
Print_ISBN :
978-1-4673-6022-7
DOI :
10.1109/ICORR.2013.6650406
