DocumentCode
3519678
Title
Design of a passive transfemoral prosthesis using differential flatness theory
Author
Chengkun Zhang ; Agrawal, Sunil K.
Author_Institution
Dept. of Mech. Eng., Univ. of Delaware, Newark, DE, USA
fYear
2013
fDate
6-10 May 2013
Firstpage
2189
Lastpage
2193
Abstract
This paper investigates the feasibility of generating a natural looking walking gait during the swing phase for a transfemoral prosthetic leg. This prosthesis has a powered knee joint and a passive ankle joint, and is designed to be differentially flat. The diffeomorphism between the physical space and the flat output space provides a mathematical framework to solve the challenging trajectory attainment problem. The proposed methodology is demonstrated by both simulation and experiments.
Keywords
control system synthesis; gait analysis; prosthetics; diffeomorphism; differential flatness theory; flat output space; natural looking walking gait; passive ankle joint; passive transfemoral prosthesis design; powered knee joint; swing phase; trajectory attainment problem; transfemoral prosthetic leg; Hip; Joints; Knee; Legged locomotion; Prosthetics; Springs; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location
Karlsruhe
ISSN
1050-4729
Print_ISBN
978-1-4673-5641-1
Type
conf
DOI
10.1109/ICRA.2013.6630871
Filename
6630871
Link To Document