{"title":"Modeling and Simulation of a 2SPU-RU Parallel Mechanism for a Prosthetic Ankle with Three Degrees of Freedom","authors":"Victoria E. Abarca, Dante A. Elias","doi":"10.3390/inventions9040071","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":2,"journal":{"name":"ACS Applied Bio Materials","volume":"104 32","pages":""},"PeriodicalIF":4.7000,"publicationDate":"2024-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"ACS Applied Bio Materials","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.3390/inventions9040071","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"MATERIALS SCIENCE, BIOMATERIALS","Score":null,"Total":0}
引用次数: 0
Abstract
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.
期刊介绍：
ACS Applied Bio Materials is an interdisciplinary journal publishing original research covering all aspects of biomaterials and biointerfaces including and beyond the traditional biosensing, biomedical and therapeutic applications.
The journal is devoted to reports of new and original experimental and theoretical research of an applied nature that integrates knowledge in the areas of materials, engineering, physics, bioscience, and chemistry into important bio applications. The journal is specifically interested in work that addresses the relationship between structure and function and assesses the stability and degradation of materials under relevant environmental and biological conditions.
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