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

• Type: Article in International Conference Proceedings Book
• Date: 2017

Authors

Alves, J (Author) Other; Seabra, E (Author) Other; Ferreira, C (Author) Other; Santos, CP (Author) Other; reis, lp (Author) REIT

Conference proceedings International

Title: 2017 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2017, Coimbra, Portugal, April 26-28, 2017

Pages: 128-133

Indexing

Scopus - 3 Citations

Other information

Authenticus ID: P-00M-YKB

DOI: 10.1109/icarsc.2017.7964064

Abstract (EN): 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 5