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Title Design, Test, and Evaluation of a High Powered 4 DOF Prosthetic Leg for Transfemoral Amputees
URL
Publication Date
Date Accessioned
Degree MS
Discipline/Department Mechanical Engineering
Degree Level masters
University/Publisher Virginia Tech
Abstract A high powered prosthesis for transfemoral amputees is presented in this paper. Four control mechanisms, three of which are in series with springs to reduce the total power requirement of the motors, are used on the prosthesis to provide power to all motions of the leg. The prosthesis is capable of providing powered motion for knee and ankle pitch, ankle roll, and ankle yaw, i.e. ankle rotation from side to side. The prosthesis was designed to handle a variety of activities including, but not limited to, walking, running, and stair climbing.
Subjects/Keywords Transfemoral; Transtibial; Prosthesis; High Power
Contributors Asbeck, Alan T. (committeechair); Leonessa, Alexander (committee member); Nussbaum, Maury A. (committee member)
Rights In Copyright
http://rightsstatements.org/vocab/InC/1.0/
Country of Publication us
Record ID handle:10919/90791
Repository vt
Date Retrieved
Date Indexed 2020-12-04
Grantor Virginia Polytechnic Institute and State University
Issued Date 2019-07-01 00:00:00
Note [degree] Master of Science;

Sample Search Hits | Sample Images | Cited Works

…List of Figures 1.1 Image of an unpowered prosthetic leg used for trans-femoral amputees. . . . 4 2.2 AMBER Lab’s AMPRO3 prosthesis for TFAs. . . . . . . . . . . . . . . . . . 10 2.3 SPARKy 3 powered 2 DOF prosthetic ankle for TTAs…

…12 3.1 Final CAD model of the prosthesis described in this work. . . . . . . . . . . 14 3.2 TM4C123GH6PM Tiva C Series Microcontroller used for robotic manipulation and control of leg…

…joint. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 4.10 The Knee Actuator used for powering the first degree of freedom of the prosthesis. The linear actuator for the knee uses the same power transfer method as…

…compact design. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 4.12 The completed ankle with the yaw actuator in between the two ankle actuators. 38 4.13 The finished prosthesis used for treadmill testing. . . . . . . . . . . . . . . . 5.1…

…5.5 44 Electrical stack used for motion control of the prosthesis. The first board is used for power conversion, I2C communication, and load cell amplification. The second is used for absolute and optical encoders. The third is the TM4C…

…microcontroller. The fourth is the motor controller shield, upon which lays the ADC conversion circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.6 45 The layout of the electrical system used for testing the prosthesis. The aluminum box covering…

…used for determining the individual ball nut locations. . . . 55 5.14 NX motor model used to calculate the moment of inertia of the motor. . . . 58 5.15 Model of prosthesis used for calculating the mass moment of inertia about the axis of rotation…

…at the knee joint. . . . . . . . . . . . . . . . . . . . . . . 60 5.16 Model of prosthesis used for calculating the mass moment of inertia about the axis of rotation for yaw. . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1 61 Gait…

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