A proportionally scaled robotic leg has the ability to replicate the uniqueness of the human gait cycle. To do this, a robust design must be made, and a real-time controller must be created. This requires multiple inputs and outputs and different design methods to determine the most efficient design. Once the design is finalized, it must be controlled to accurately reproduce human gait data.
In this thesis, a preliminary design and controller for a proportionally scaled robotic leg is developed. The design of the robotic leg is the first part and the controller is the second part of the project. The robotic design is split into four categories. The first part starts with design functions and requirements, conceptual design, and embodiment design. The functions and requirements section covers the desired functions and associated requirements developed for the design. A conceptual design phase is formatted, which shows the processes taken to develop and evaluate the potential design solutions considered. It also identifies the chosen design concept for the project. The embodiment design phase is presented to show the finalized product architecture, initial engineering analysis of critical components, and details of the configuration design process. In the second part two typical servo motors perform the path of the patient’s gait. After performing multiple tests, the results show a steady motion path replicating a patient’s data set. This data validates the controller system that ultimately is used to achieve the overall goal of replicating a patient’s human gait cycle.
|Commitee:||Krishnan, Vennila, Roy, Surajit|
|School:||California State University, Long Beach|
|Department:||Mechanical and Aerospace Engineering|
|School Location:||United States -- California|
|Source:||MAI 58/05M(E), Masters Abstracts International|
|Subjects:||Engineering, Biomedical engineering, Mechanical engineering, Robotics|
|Keywords:||Mitigate inaccuracies in prosthetic fittings, Prosthetic fittings, Prosthetic robotic leg, Robotic fitting, Robotic leg, Robotic prosthetic fitting|
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