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Dynamic Simulation of Running Human Normal and with Below-Knee Prosthesis

Ebrahimi Mamaghani, Ali | 2011

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 41718 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Firoozbakhsh, Keykhosro; Zohoor, Hassan
  7. Abstract:
  8. Researches in the field of human gait have a lot of applications in medicine, ergonomics, sport science and technology. Lower limb prostheses design is one of the fields in which human gait is important. One of the best methods of gait analysis is to use analytical models. In this project, first, the normal human 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. In this model the foot-ground contact was is estimated using Taylor series after running experiment and it’s analysis which is expendable to people with different ages and different weight and run speeds. Human stabilization along one step is provided with a simple PD control algorithm. For calculation of control algorithm coefficients (driving torque), optimization method (Genetic Algorithm) is used. In this way a sari of operators is used to simulate with the aid of direct dynamics and optimization method with the goal of minimizing the difference between model’s cinematic and normal running cycle data to estimate torque coefficients of these operators in these joints. In the second step running with below-knee prostheses is simulated in this state as the torques provided from normal running modeling section is applied to the joints of healthy foot an artificial leg is assumed and SACH foot which is one of famous prostheses used in body modeling is used. Since SACH foot is designed for amputee’s walking, with optimization method with the goal of minimizing the difference between model’s cinematic and normal running cycle data to evaluate ankle joint’s mechanical properties to use this kind of prostheses in normal running. Kinematical curves of normal and amputee model for the optimum mechanical properties indicate that the normal and prosthetic leg reasonably produces the kinematics of the normal running under Normal joint driving torques. Another important result is that ankle plantar flexion is sensitive to change of stiffness
  9. Keywords:
  10. Foot Contact Model Optimization ; Dynamic Modeling ; Optimization ; Running Kinematics ; Below-Knee Prosthesis ; Ankle Joint

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