Development of an active prosthesis for transtibial amputees

This paper shows a preliminary proposition to the mechanical design and, also kinematics and gap models for an active prosthesis applied to transtibial amputees. It is pointed that an active prosthesis is capable to absorb and amplify the forces during human walking. Tools applied to robotics like Denavit-Hartenberg´s algorithm and the Lagrangean may be applied in mathematical modeling in order to aid in control of joints. The current simulations (i.e., just the computational models) of the prosthesis in studying understand the phase first in this work.