Design and Validation of a Transfemoral Amputee Walking Model with Passive Prosthesis Swing Phase Control
Year: 2017
Type: dissertation
Abstract: A two dimensional, seven segment biped transfemoral amputee swing phase model was developed at four walking speeds as an evaluation tool for variable cadence swing phase controllers. Torques at each joint were modelled as a function of tracking error and a forward dynamic optimization was performed to produce joint torques to match four sets of reference amputee kinematics. A prosthetic knee’s swing phase was simulated across four speeds (0.5, 1, 1.5, 2 m/s) and compared to experimental data. The knee performance RMSE ranged from 1.42° - 37° with increasing errors at higher walking speeds. The introduction of absolute hip motion measured from the affected side increased errors across all walking speeds. Additional modelling and optimization strategies to improve the model’s accuracy are discussed.
Source: TSpace (University of Toronto)
Author: MARK J. FLETCHER
Language: English
Subfield: Biomedical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W2806118887