Design and dynamic modelling of an ankle-foot prosthesis for humanoid robot

摘要

Bipedal locomotion is an important function of the human body, as it enables the mobility of the body through space, changing, therefore, the position of the person. Thus, a trauma (i.e limb amputation) or disease of the musculoskeletal system will affect not only the individual's locomotion but also the physical and psychological health, as well as the individual's social-interaction. Thereby, this work presents the 3D sketch of a transtibial prosthesis as well as a scale reduced model to be implemented on a biped robot (DARwIn-OP Robot). This model that will serve as case study to test the mechanism proposed for human ankle-foot prosthesis, is described throughout this paper. Also, for future system control implementation, a dynamic model of the prosthesis' main mechanism is described.