Design of a mechanism for a robotic transtibial prosthesis

Carlos A. Salazar, Victoria E. Abarca

Producción científica: Contribución a una revistaArtículorevisión exhaustiva


This work focuses on a part of the design of a transtibial prosthesis. The components included are a mechanism and a prosthetic foot to be used by a person with transtibial amputation. The mechanism has two degrees of freedom which is capable of performing dorsiflexion/plantarflexion and inversion/eversion. Two serial elastic actuators (comprising two universal joints, two springs, one ball screw, and one motor) were used to obtain the ankle movement. To obtain an anthropomorphic design result we used the anthropometric data of a person of 56.7 kg weight and 1.75 m height. The parts of the prosthesis were modeled on Autodesk Inventor software and the finite element analyses were made in Autodesk Inventor Nastran. The limits of ranges of movement of the ankle mechanism are from 20° to -24° in dorsiflexion/plantarflexion and from 25° to -10° in inversion/eversion and it can provide a peak torque of 1.6 Nm/kg. As a result, the safety factor of the majority of the components analyzed was approximately five, and the weight of the design was approximately 4 kg.
Idioma originalEspañol
Páginas (desde-hasta)1416-1422
Número de páginas7
PublicaciónInternational Journal of Scientific and Technology Research
EstadoPublicada - 1 set. 2019

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