Modeling and Simulation of a 2SPU-RU Parallel Mechanism for a Prosthetic Ankle with Three Degrees of Freedom

To assist an individual with an amputation in regaining daily quality of life, a 2SPU-RU type parallel mechanism was developed based on ankle biomechanics. The inverse kinematic analysis of this mechanism was performed using the vector method. Subsequently, the Jacobian matrices were analyzed. The d...

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Bibliographic Details
Published inInventions (Basel) Vol. 9; no. 4; p. 71
Main Authors Abarca, Victoria E., Elias, Dante A.
Format Journal Article
LanguageEnglish
Published Basel MDPI AG 01.08.2024
Subjects
Amputation
Ankle
Balance
Biomechanics
Dynamic models
Gait
Inverse kinematics
Jacobi matrix method
mechanism
parallel
Parallel degrees of freedom
Prostheses
prosthetic
Quality of life
R&D
Rehabilitation
Research & development
Simulation
Walking
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Summary:To assist an individual with an amputation in regaining daily quality of life, a 2SPU-RU type parallel mechanism was developed based on ankle biomechanics. The inverse kinematic analysis of this mechanism was performed using the vector method. Subsequently, the Jacobian matrices were analyzed. The dynamic model of the mechanism was then created based on the principle of virtual work, and its theoretical solution was compared with numerical results obtained in a simulation environment. Additionally, the validity of the dynamic model and the inverse kinematics was verified by comparing theoretical and simulation results for the movements of plantarflexion–dorsiflexion, eversion–inversion, and abduction–adduction during the gait cycle.
ISSN:2411-5134
2411-5134
DOI:10.3390/inventions9040071