Abstract
This is a four-part series paper, where the hardware design,
mathematical model and the adaptive controller design has been explained
for amputee’s who are not good candidates for the available prosthetic
legs and need caretaker to make any physical movement. The proposed
design aims to help patients with two medical conditions - impaired
mobility and impaired decision making, that is, amputee and only with
dementia, paralysis, monoplegia, hemiplegia, paraplegia, cancer,
infection or from induced virus/parasites, where decision making is
impaired. In these conditions, it is challanging, very difficult with
discomfort and even unsafe to use the existing expensive prosthetic legs
due to the nature of medical conditions, and thus impossible to use any
of the available transtibial legs. The design is intended to help such
patients,allowing them to wishful control movements with natural feeling
and with indication of dangerous paths including stairs detection,
obstacles detection, uneven slopes, which can be even sent remotely to
the caretaker. This transtibial is attempted to be imitated as real leg
movements of climbing and descending ability, up and down, back and
forth, at three joints - knee, ankle and metatarsophalaneal joints,
based on sensorless SMO which in turn has feedback from NMPC,Kalman and
particle filter, designed with 9 DoF and 4 rigid linkages.The simulation
has shown to be a promising concept and is expected to be successful for
use in practical clinical purposes but the model has not been clinically
tested. This Part-I of the paper explains the mechanical considerations,
design calculations and sensors.