Novel B Transtibial Prosthetic 9-DoF Artificial Leg Adaptive Controller
- Part II
Abstract
This is the second part of the four-part series paper, where the novel
mathematical dynamical modelling of transtibial prosthetic leg has been
developed, which will be used in the algorithm for guidance and
calculating the approximate trajectory of movements with the aim to help
amputee’s patients with dementia, paralysis, monoplegia, hemiplegia,
paraplegia, cancer, infection or from induced virus/parasites, which
impairs decision making. The hardware of ankle joint motor and
metatarsophalaneal joint motor with beta logic been explained. The
mathematical 4-rod pendulum equations with Lagrangian and Hamilton are
developed for four rigid links and gait cycle. The mathematical models
developed in these papers are also useful for doctors in studying gait
and finding the solution for ailments, various abnormalities and
disorders of the musculoskeletal system. The model has been tested in
simulation and found to be promising to be tested for clinical
purposes,even the patellar reflex arc test has shown positive response
from the leg; this reduces the expenses which even after expenses is
ineffective but not been clinically tested.