Dynamic modeling of a 2-DOF cable driven powered ankle-foot prosthesis
Copyright © 2016 by ASME. The first step to study and develop a two Degrees of Freedom (DOF) prosthesis is to derive a dynamic model for simulation and control design. In this paper, the ankle-foot prosthesis has controllable Dorsi-Plantarflexion (DP) and Inversion-Eversion (IE) DOF. We derive a compliant dynamic model for a recently developed ankle-foot prosthesis followed by identification of the actuators, transmission, and prosthetic foot parameters. The resulting model is then verified experimentally and in simulation. Dynamic decoupling of the actuators to the ankle's DP and IE DOF is also investigated using Bode plots. The code used for simulating the prosthesis is provided on GitHub for the community.
ASME 2016 Dynamic Systems and Control Conference, DSCC 2016
Dynamic modeling of a 2-DOF cable driven powered ankle-foot prosthesis.
ASME 2016 Dynamic Systems and Control Conference, DSCC 2016,
Retrieved from: https://digitalcommons.mtu.edu/michigantech-p/11812