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Access Type
Open Access
Document Type
thesis
Degree Program
Mechanical Engineering
Degree Type
Master of Science in Mechanical Engineering (M.S.M.E.)
Year Degree Awarded
2012
Month Degree Awarded
May
Keywords
ankle prosthesis, semi-active damping, terrain adaptation
Abstract
Modern lower limb prostheses are devices that replace missing limbs, making it possible for lower limb amputees to walk again. Most commercially available prosthetic limbs lack intelligence and passive adaptive capabilities, and none available can adapt on a step by step basis. Often, amputees experience a loss of terrain adaptability as well as stability, leaving the amputee with a severely altered gait. This work is focused on the development of a semi-active damping system for use in intelligent terrain adaptive ankle prostheses. The system designed consists of an optimized hydraulic cylinder with an electronic servo valve which throttles the hydraulic fluid flowing between the cylinder’s chambers, acting on the prosthesis joint with a moment arm in series with a carbon spring foot. This provides the capability to absorb energy during the amputees gait cycle in a controlled manner, effectively allowing the passive dynamic response to be greatly altered continuously by leveraging a small energy source. A virtual simulation of an amputee gait cycle with the adaptive semi-active ankle design revealed the potential to replicate adaptive abilities of the human ankle. The results showed very similarly that irregularities in amputee biomechanics can be greatly compensated for using semi-active damping.
DOI
https://doi.org/10.7275/2724494
First Advisor
Frank C Sup
Included in
Acoustics, Dynamics, and Controls Commons, Applied Mechanics Commons, Biomechanical Engineering Commons, Biomechanics Commons, Computer-Aided Engineering and Design Commons, Electro-Mechanical Systems Commons