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Dynamic Modeling and Control of a Robotic Prosthetic Foot for Transfemoral Amputation
, M.Sc. Thesis Sharif University of Technology ; Salarieh, Hassan (Supervisor) ; Alasty, Aria (Supervisor)
Abstract
The present research has dealt with the modeling and control of a robotic prosthetic foot for transfemoral amputees. In the beginning of this research, we have modeled the normal gait. In order to accomplish this modeling, we have chosen a 7-body segment skeletal model of the human body and derived the motion equations using Lagrangian equations. Then, we have developed a smooth contact model for the ground. After controlling normal gait, we have attempted to model and control the ankle and knee prosthesis. We assumed a rigid model for the ankle prosthesis and derived its dynamic equations. Then, we developed a robust model reference adaptive impedance control (RMRAIC) scheme based on the...
A robotic model of transfemoral amputee locomotion for design optimization of knee controllers
, Article International Journal of Advanced Robotic Systems ; Volume 10 , 2013 ; 17298806 (ISSN) ; Farahmand, F ; Osman, N. A. A ; Zohoor, H ; Sharif University of Technology
2013
Abstract
A two-dimensional, seven link, nine degrees of freedom biped model was developed to investigate the dynamic characteristics of normal and transfemoral amputee locomotion during the entire gait cycle. The equations of motion were derived using the Lagrange method and the stance foot-ground contact was simulated using a five-point penetration model. The joint driving torques were obtained using forward dynamic optimization of the normal human gait and applied to the intact joints of the amputee. Three types of motion controllers; frictional, elastic and hydraulic were considered for the prosthetic joints of the amputee and their design parameters were optimized to achieve the closest...
Dynamic Simulation of the Biped Normal and Amputee Human Gait
, M.Sc. Thesis Sharif University of Technology ; Farahmand, Farzam (Supervisor) ; Zohour, Hassan (Supervisor)
Abstract
One of the best methods of gait analysis is to use analytical models. In this project, first, the normal human gait was simulated using a two-dimensional biped model with 7 segments, i.e., a HAT segment representing head, arms and trunk, and 6 segments representing thighs, shanks and feet of the two legs. The foot-ground contact was simulated using a five-point penetration contact model. The elastic impact and friction effects are considered in the ground reaction force modeling. Optimization of the normal human walking model provided constant coefficients for simple PD controllers’ (driving torque) equations that could reasonably reproduce the normal kinematical pattern. Then, in the second...