Development and Control of Concise Semi-Active Ankle Prosthesis

Abstract

The Concise Semi-Active Ankle Prosthesis is developed and controlled in this paper. Modern ankle prostheses are devices that exchange the absent limbs, making it possible for amputees to run again. Utilizing both parallel and series spring systems, the compact semi-active ankle prosthetic is created. The leaf series springs, parallel springs, and a cam make up the ankle prosthesis's compact, semi-active model. To minimize torque and power consumption as much as possible, the parallel and series springs must work as a nonlinear system. The concise semi-active ankle prosthetic was modeled using the CADCAM software. ANSYS was employed to implement a finite element analysis of the model. Static structure simulation is carried out with a loading force of 1500 N representing the personal weight. The model is imported into MATLAB/Simulink to be controlled after being run via ADAMS for dynamic analysis. The performance of the model with control is extremely close to that of the non-amputee ankle, according to simulation data. To test this model, the concise semi-active ankle prosthetic is manufactured as is modeled using the CAD-CAM program. The control system consists of a DC motor, Arduino uno, Hbridge, encoder, and current sensor. The motion of the compact semi-active ankle prosthetic is extremely comparable to the motion of the non-amputee, according to the simulation and testing results.