International Journal of Pure and Applied Mathematics

Volume 116 No. 5 2017, 51-56

ISSN: 1311-8080 (printed version); ISSN: 1314-3395 (on-line version)
url: http://www.ijpam.eu
Special Issue
ijpam.eu

A MATHEMATICAL MODEL TO DETERMINE THE TORQUE FOR A

PROSTHETIC LEG-LAGRANGIAN EQUATION

Y. Kalyan Chakravarthy1, Mohammed Shabnam Sultana2, Dr. A. Srinath3

G.R.S. Naga Kumar4
1,2,3,4
Electrical and Electronics Engineering, K L University,
Guntur, Andhra Pradesh - 522502, India.
1
kalyan_me@kluniversity.in,
2
shabbu162@gmail.com,
3
srinath@kluniverisyt.in,
4
naga01013ee022@kluniversity.in

Abstract: Development of the prosthetic is not
enough these days, after the introduction of
actuation systems into the prosthetics. For actuation
purpose, one must have sound knowledge of
actuation parameters, principles of actuators,
concepts of feedback system as of basics in the
beginning. Considering a few human subjects,
actuation data pre-requisites are taken and noted,
which are later developed and utilized for
determination of actuator input to have the desired
actuation in terms of torque. On observing the
developed results, they are analyzed to determine
the suitable actuator. For the development of the
parameters, the data acquired is processed through
mathematical equations using MATLAB tool for
precision and reliability.
Keywords: Gait, Torque, Knee angle,
Mathematical modelling, Lagrangian,, Matlab.
1. Introduction
1.1 Prosthetics
Replacement or artificial support to a human
limb is known as prosthetic. The study of
prosthetics is called as prosthesis. Prosthetics and
prosthesis happen to date back to B.C, where
primarily knights and kings were given the
privilege to have the sophisticated prosthetics at the
time[1]. Whereas the common people had made use
of regularly available tools and supports like wood,
bars which are still used for immediate prosthesis
till date. Prosthetics these days are more than that
of the passive prosthetics available previously. The
new age prosthetics are known for their
advancement in being active prosthetics and of
various actuation systems.
While concentrating on the lower limb prosthetics,
transtibial [2] amputations are less likely to need
actuation systems when compared to the
transfemoral [3] amputation. Hence, transfemoral
amputation prosthetics are mainly concentrated for
developing actuation systems in reference to the
knee mechanism especially. It is the major joint in
the amputee that requires more attention and detail
for prosthetic development. Thus, helping the
amputated to have an effective day work and daily
life, in spite of having the prosthetic.
1.2 Gait Analysis
1.2.1 Gait:
It is the sstudy of the human’s walking pattern.
Further giving the scope for gait analysis and hence
deriving the required data for the purpose of
actuating prosthetics.
1.2.2 Gait analysis:
The study of human locomotion, by the virtue
of limb movements. These movements are studied
to understand the pattern of limb movement, pattern
of walking for prosthetics, providing the primary
data for development of actuation system.
1.2.3. Gait Cycle:
It is the time elapsed between the consecutive
contacts of the foot with the ground during the
human locomotion of the leg. The observation of
the cycle is mainly classified into two phases,
namely Stance phase and swing phase as illustrated
in Fig.1. The time spent in the gait cycle can be
divided into single support and double support
stages. Single support stage is only when one limb
makes and lies in contact with the surface, where as

51
International Journal of Pure and Applied Mathematics Special Issue

the double stage is when both the limbs are in
contact with the surface.[4][5]
Where both, the knee joint and hip joint are at their
extreme positions in the matters of movement and
limb ready to make the heel strike to begin another
gait cycle, moving into double support from single
support and into stance phase from swing phase.
These have been illustrated in the Fig. 2, Fig. 3
below.

Figure 1. Sub Classification of gait cycle

1.2.3.1. Stance phase:

The duration where first the heel touches the
ground and toe of the same leg takes off. It is where
the weight of the body acts on the foot foot[6]. It
contributes to 60% of the gait cycle and sub divided
into 5 stages further. Figure 2. Model Leg
1.2.3.1.1. Heel strike:
The contact point by the limb by making the
heel to touch the surface.
1.2.3.1.2. Loading response:
After heel strike, the weight of the body is
shifted on to the heel struck limb, making it from a
single support to double support.
1.2.3.1.3. Mid stance:
Figure 3. Gait cycle
The time of the he gait cycle where the tibia’s
position is perpendicular to the supporting surface.
1.2.4. Gait Terminologies:
1.2.3.1.4. Terminal stance:
There exist 7 terminologies of gait, categorized
The time of the stance, where the heel takes off
into distance variables and time variables.
the surface.
1.2.3.2. Swing phase: 1.2.4.1. Distance variables:
The duration covered between the toe off and 1.2.4.1.1. Stride length:
the following heel strike of a limb. It constitutes of
The length covered between the consecutive
3 stages contributing to the rest 40% of gait
contacts of the same heel during the gait cycle.
cycle.[6]
1.2.3.2.1 Initial swing: 1.2.4.1.2. Step length:
The length covered from heel strike of one limb
Begins after the toe takes off the surface at the
and the heel strike of the other limb.
end of pre-swing
swing in stance phase. Where the 1.2.4.1.3. Degree of toe out:
movement start with the hip joint alone keeping the The angle made by an imaginary line passing
knee joint ideal. through the second toe and the heel of the foot,
1.2.3.2.2. Mid swing: with the foot progression line in a gait cycle. It
Where the knee joint also comes intonto movement happens to be that angle of toe out decreases with
in parallel with the hip joint. the increase in walking speed. Normal degree of toe
1.2.3.2.3. Terminal swing:

52
International Journal of Pure and Applied Mathematics
out is 7o. The pictorial illustration has been shown
below, in Fig. 4.
Figure 4. Step Length of the human
1.2.4.2 Time Variables:
1.2.4.2.1. Single limb support time: The duration
of time spent in single support during the swing
phase.
1.2.4.2.2. Double limb support time: The duration
of time spent for double support during the stance
phase.
1.2.4.2.3. Cadence: It is the number of steps
observed for a human to cover in a unit time.
1.2.4.2.4. Cycle time: Using cycle time puts the
calculation even better an clear when replaced with
cadence. Speed (m/s) = stride length (m)/cycle time
(s)
1.2.4.2.5. Speed: Distance covered in a given time
scaled down to distance covered per unit time. The
relation between cadence, step length and speed is
given by the following formula.
Average speed / velocity = Step length* cadence
1.3 Kinematics and Kinetics:
Kinematics is the study of movement,
displacement of a body. Kinetics is the study of
effect, causing the movement of the body or the
subject under the influence.
1.4 Potentiometer:
Potentiometer is used to determine the angles
formed during the gait cycle, for considering
human subjects. For this, it is placed on the knee
joint with required software and hardware console,
to capturing the data in dynamic conditions of the
gait cycle. Through this gait timings and respective
angles involved are noted down for the phases and
positions of gait, as explained previously in the
discussion.[7][8][6]
53
Special Issue
1.5 Angle Capturing Techniques:
Angles involved in joints can be obtained
through various practices available. A few such are
by using accelerometer, potentiometer, using
MEMS, etc. In this discussion, we are making use
of potentiometer for data capturing.[9]
1.6 Anthropometric:
It is the study of human limb dimensions, for
the development of artificial supports or limbs,
prosthetics. It describes the link lengths to be
followed for a taken set of subjects, as lengths
differ from person to person and area to area. [10]
2. Modeling Of Prosthetic Leg
Anthropometric data has been absorbed from
the existing study, done by research personnel till
date. Using the data like thigh length, shank length,
foot length are utilized for development of virtual
3D model, with the help of drawing and design
tools like solid works. Sample material is
considered for properties. The model is used to
analyze with analysis tools like Ansys etc. The
material properties and mechanical parameters are
iterated till the FOS of the prosthetic is sound
enough. After finalizing the design, model mass is
considered to be the prosthetic weight, to be carried
forward for future use in the discussion.
3. Kinetic Analysis
The evaluation of kinetic parameters is known
as kinetic analysis. For this a mathematical model
is developed which resembles like a two-link
manipulator. For this purpose physical laws like
lagrangian mechanics and Newton mechanics are
applied. Which are derived from energy
conservation equations and force balance equations
respectively. The kinetic energy equation bounding
for link-1 is [11]
= + = + =
Eq.1
Its potential energy is bounded by
= sin
Eq.3
International Journal of Pure and Applied Mathematics Special Issue

Where, g is the magnitude due to gravity, in –ve y-  1  1 

axis direction. M 11 =  m1 + m2  L12 + m2 L22 + m2 L1 L2C2 
 3  3 
The kinetic energy equation for that of link-2 is
1 1 
bounded by M 12 = M 21 = m2  L22 + L1 L2C2 
3 2 
= + = +
1
M 22 = m2 L22
+ +2 + ( + 3
) Eq.2 1
H1 = −m2 L1 L2 S 2θ&1θ&2 − m2 L1 L2 S 2θ&12
The potential energy equation for link-2 is 2
1 1
H 2 = m2 L1 L2 S 2θ&12
= +
2 2
Eq.4  1  1 
G1 =  m1 + m2  L1C1 + m2 L2C12  g
The lagrangian equation, is L=K-P  3  2 
= + − − 1
Eq.5 G2 = m2 L2C12 g
2
Through substitution and simplification it has been
derived that These coefficients are defined as
= + + + + M ii = effective inertia,
M ij = effective coupling inertia,
2 )+ + − +
H i = centrifugal and acceleration forces
−
Eq.6 In order to simplify and make use of the
machines, a mathematical model has been
The Lagrange-Euler formulation for links gives the developed to make it easy to operate and avoid the
torques of the 2-link planar manipulator. As both fuss of manual work. The MATLAB/SIMULINK
the joints are revolute, the generalized torques,
model is as illustrated in the Fig.5 with the help of
which represent the actual joint torques can be
written as above mentioned Torque equations in Eq.8, Eq.9.
 1  1 
τ 1 =  m1 + m2  L12 + m2 L22 + m2 L1 L2C2  θ&1
 3  3 
1 1  1
+m2  L22 + L1 L2C2 θ&2 − m2 L1 L2S2θ&1 θ&2 − m2 L1 L2S2θ&2
 3 2  2
1  1
+  m1 + m2  gL1C1 + m2 gL2C12
2  2
1 1  1
τ 2 = m2 2  L22 + L1 L2C2  θ&&1 + m2 L22θ&&2 Figure 5. Mathematical modeling by Matlab
3 2  3
1 1
+ m2 L1 L2 S 2θ&12 + m2 gL2C12 Torque Analysis on Person 1
c)

2
e

2 2
/s

velo(:,1)
d
ity(ra

0 velo(:,2)
c
lo

Eq.7
e
V

-2
0 2 4 6 8 10
c)
2
e

2
d
n(ra/s

acc(:,1)
acc(:,2)

After solving the above equations the final torques 0

cla
e tio
ra

-2
c

0 2 4 6 8 10
a

of Eq(8) and Eq(9) are obtained, 150

! = " Ѳ# + "
-m)

+ $ + % Eq.8
e(N

100
torque(:,1)
u
rq

50 torque(:,2)
o
T

! =" Ѳ +" # + $ + % Eq.9

0
0 2 4 6 8 10
Time (sec)

Figure 6. Torque analysis for subject 1

54
International Journal of Pure and Applied Mathematics Special Issue

Torwue Analysis on Person 2

“Mechanical properties of prosthetic limbs:
e)

2
d/s

velo(:,1)
ity(ra

velo(:,2)
0
adapting to the patient.,” J. Rehabil. Res. Dev., vol.
e
V c
lo

-2
0 2 4 6 8 10
38, no. 3, pp. 299–307, 2001.
c)
2
e

2
d
n(ra/s

acc(:,1)
0 acc(:,2)
[3]F. F. Klijnstra, “Control and Implementation of a
cla
e tio
ra

-2

transfemoral prosthesis for walking at different

c
A

0 2 4 6 8 10

speeds,” no. 28, 2012.

-m

150
e(N )

100 torque(:,1)
u
rq

50 torque(:,2)
o
T

0
0 2 4
Time (Sec)
6 8 10
[4]M. W. Whittle, “Gait analysis: an introduction,”
Figure 7. Torque analysis for subject 2 Library (Lond)., vol. 3, pp. 1–220, 2002.
Torque Analysis on Person 3
[5]S. K. Au, J. Weber, and H. Herr, “Powered
c)

0.2
d
ity(ra e
/s

0
ankle-foot prosthesis improves walking metabolic
e
V c
lo

-0.2
0 2 4 6 8 10
economy,” IEEE Trans. Robot., vol. 25, no. 1, pp.
c)
2
e

0.2
51–66, 2009.
d
n(ra
tio /s

0
la
e ra

[6]MohamedArif.N, Y.udhayakumar,Inbarasan.G, "

c

-0.2
c
A

0 2 4 6 8 10

150
Design Of High Frequency Earthing System Used
-m
e(N )

100

For Gas Insulated Substation, International

u
rq

50
o
T

0
0 2
Figure 8. Torque analysis for subject 3
From the Fig. 6,Fig. 7,Fig. 8, the torque, velocity
& acceleration of prosthetic leg has observed for
different subjects under same operating conditions
like Constant velocity of 2km/hr.
4. Conclusion
Using the anthropometric data and preliminary
data required for determination of toques, to actuate
the considered prosthetic leg, generalized torque
equations have been derived with the help of
mathematical modeling through lagrangian
equations using MATLAB/SIMULINK
environment. The equations stand good for
modified parameters as well, because the torques to
be attained are entirely dependent on the input
parameters and this will be helpful for the
indigenous development of prosthetic leg, for
Indian amputee. Giving better development in
prosthetic industries by obtaining the toques
required for actuation, as depicted in Fig. 6, Fig. 7,
Fig.8.
Acknowledgements
The authors are grateful to the support of K L
University FIST sponsored Advance prototyping
and Manufacturing lab SR/FST/ETI-317/2012(C).
4
Time (Sec)
6 8 10
Innovative Research Journal of Engineering and
Technology, vol. 2, no. 1, pp. 37-43, 2016.
[7]S. Au, M. Berniker, and H. Herr, “Powered
ankle-foot prosthesis to assist level-ground and
stair-descent gaits,” Neural Networks, vol. 21, no.
4, pp. 654–666, 2008.
[8]Karthikeyan.T , Balakumar.A,
Sathyanarayanan.M, Senthilkumar.R,
Sugavanam.K. R, " Design of PSO Based KY
Boost Converter to Reduce Output Ripple
Voltage," International Innovative Research Journal
of Engineering and Technology, vol. 2, pp. 51-56.
[9]T. J. Yeh, M. J. Wu, T. J. Lu, F. K. Wu, and C.
R. Huang, “Control of McKibben pneumatic
muscles for a power-assist, lower-limb orthosis,”
Mechatronics, vol. 20, no. 6, pp. 686–697, 2010.
[10]A. Furse, W. Cleghorn, and J. Andrysek,
“Improving the gait performance of nonfluid-based
swing-phase control mechanisms in transfemoral
prostheses,” IEEE Trans. Biomed. Eng., vol. 58, no.
8, pp. 2352–2359, 2011.
[11]S. J. Abbass and G. Abdulrahman, “Kinematic
analysis of human gait cycle,” vol. 16, no. 2, pp.
208–222, 2014.
[12]R. Borjian, “Design , Modeling , and Control of
an Active Prosthetic Knee,” 2008.
[13]R.K.Mittal text book publications.

References
[1]K. Norton, “A brief History of Prosthetics,”
InMotion, vol. 17, no. 7, pp. 1–3, 2007.
[2]G. K. Klute, C. F. Kallfelz, and J. M. Czerniecki,

55
56