Non-Anthropomorphic Prosthesis Design Generated From Simulated Gait Optimization
BioRob(2020)
摘要
Simulations of walking biomechanics offer a tool for optimizing prosthesis performance while including estimates of the effects of the prosthesis on the rest of the body. We have previously used this technique to optimize the output behaviors of a generalized prosthesis model in the sagittal plane. In this paper, we present the design of a prototype prosthesis testbed for validating generalized prosthesis model predictive simulation results with experimental feedback. Design specifications are generated from simulated prosthesis dynamics and comparison with existing powered prostheses. A complete mechatronic system design based on these specifications is presented. The design consists of two sub-systems: the ankle-foot prosthesis and a wearable off-board actuation and control system. The overall system is designed to function as a validation tool for prosthesis simulation experiments generally, and to provide experimental feedback to the simulation-based prosthesis design loop.
更多查看译文
关键词
nonanthropomorphic prosthesis,wearable off-board actuation,prototype prosthesis testbed,simulation-based prosthesis design loop,control system,ankle-foot prosthesis,mechatronic system,simulated prosthesis dynamics,sagittal plane,walking biomechanics,simulated gait optimization
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络