Show simple item record Sathsara, AKP Widanage, KND Nilakshman, S Ranaweera, RKPS Gopura, RARC 2019-10-23T03:46:42Z 2019-10-23T03:46:42Z
dc.description.abstract This paper proposes a hybrid powering mechanism for a unilateral transtibial robotic prosthesis named TRoPHy. The device includes both active and passive actuation methods for plantar flexion/ dorsiflexion while inversion/ eversion is achieved passively. The proposed mechanism uses separate spring systems to vary the ankle stiffness and capture the biomechanical energy for the purpose of controlling plantar flexion and dorsiflexion phases of gait cycle. Here, energy stored during the controlled dorsiflexion phase is released and used for propulsion in the powered plantar flexion phase. The testing of the prosthesis was carried out on an able-bodied person, by using a test-rig to affix the prosthesis in parallel to the shank for mimicking the kinematics of the leg. The resulting ankle kinematic data of the prosthesis provided a 97.3% correlation with the natural human ankle kinematics, implying the viability of applying this mechanism to reproduce the ankle behavior accurately. An analysis of the power balance of the system reveals that 38% of the total power required for the powered plantar flexion phase can be reduced effectively from the proposed energy harvesting mechanism. en_US
dc.language.iso en en_US
dc.subject Ankle joint en_US
dc.subject Energy-harvesting en_US
dc.subject Hybrid powering en_US
dc.subject Transtibial robotic prosthesis en_US
dc.title A Hybrid powering mechanism for a transtibial robotic prosthesis en_US
dc.type Conference-Abstract en_US
dc.identifier.faculty Engineering en_US
dc.identifier.department Department of Mechanical Engineering en_US
dc.identifier.year 2019 en_US
dc.identifier.conference Moratuwa Engineering Research Conference - MERCon 2019 en_US Moraruwa, Sri Lanka en_US

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