ICIAfS 2014 Colombo, Sri Lanka

A 3DOF Transtibial Robotic

Prosthetic Limb
D.G.K. Madusanka, L.N.S. Wijayasingha, K. Sanjeevan, M.A.R.
Ahamed, J.C.W. Edirisooriya, R.A.R.C. Gopura

Department of Mechanical Engineering

University of Moratuwa
Presented by - D.G. Kanishka Madusanka (kanishka@mech.mrt.ac.lk)
12/23/2014

OUTLINE
o Motivation
o Introduction
o Biomechanics of lower limb
o State of the art
o Design of the prosthesis
o Experiments and results
o Conclusion
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MOTIVATION
o Amputations caused by diseases, injuries and
accidents - affect negatively.

o Significant number of amputees are transtibial.

Prosthesis for transtibial amputees
o Human alike lower limb with,
o 3 DOF ankle joint

o Passive Regeneration
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INTRODUCTION
Prosthesis - Device that replaces a missing body part

Classification
Cosmetic

Body powered

Externally powered
amputation levels
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BIOMECHANICS OF LOWER LIMB

Motion

Moveable Range (Deg.)

Dorsiflexion/ Plantarflexion 20 / 50
Abduction/ Adduction

20 / 25

Inversion/ Eversion

35 / 25
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STATE OF THE ART

All most all prosthetic ankles are 2DOF or less
Model
SPARKy
PROPRIO
MIT Prosthesis 1
MIT Prosthesis 2
PANTOE

Actuation method
Ball screw driven by motor
Ball screw driven by motor
Ball screw driven by motor
Ball screw driven by motor
Ball screw driven by motor

DOF
1
1
1
1
2

DESIGN OF THE PROSTHESIS

Design was carried out in 3 stages

1st Design

2nd Design

less reliability
Low speed of worm & wheel
less maintainability

High power demand of LA

High weight due to gears and LA

DESIGN OF THE PROSTHESIS

o The weight is reduced

based on FEA results
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DEVELOPED PROSTHETIC LIMB

KINEMATIC ANALYSIS
= cos . sin .

= 90
sin()

sin

tan =

2 = 2 + 2 + 2 . +
and can be found by gait data
and can be obtained.
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PASSIVE REGENERATIVE SYSTEM (PRS)

= +
natural length of spring be d0,
= .
= 0 =
=

= .

, and can found by gait data

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SIMULATION RESULTS OF PRS

Less motor power requirement
Find power requirement with varying K

= 30 kN/m

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EXPERIMENTS AND RESULTS

Two experiments
o Verify the moveable ranges
o Evaluate possibility of using EMG based control

Verify the moveable ranges and

evaluate possibility of using
EMG based control
Experimental Setup
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RESULTS OF PD CONTROLLER
Implemented a PD controller
= . + .
Motion
Dorsiflexion/ Plantarflexion
Abduction/ Adduction
Inversion/ Eversion

Dorsiflexion/plantarflexion

Achieved Range (Deg.)

12 / 32
20 / 25
30 / 25

Natural Range (Deg.)

20/50
20/25
35/25

Abduction/adduction
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RESULTS OF EMG CONTROLLER

Proportional EMG controller is implemented
- Sampled at 2000Hz and 100 samples per rms signal
- Tibialis anterior (ch:1) and gastrocnemius (ch:2)
= 1 . 1 2 . 2

EMG Signals

Results of dorsiflexion/ plantarflexion

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CONCLUSION
o Developed a transtibial prosthetic limb with 3DOF
ankle and passive regenerative system.
o Experimental results verified the effectiveness of
motion generation and possibility of using EMG
Signals.
o Simulation results shows the effectiveness of
passive regenerative system.
Future Work Improve the EMG based controller
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THANK YOU !

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