APPLYING GENETIC ALGORITHM FOR OPTIMIZATION OF SIX-BAR MECHANISM OF PROSTHETIC KNEE JOINT

Yıl 2012, Cilt: 4 Sayı: 1, 9 - 16, 01.03.2012

J. Afshari F. Nazari S. Baghalian S.S. Malihi

Öz

Six-bar linkages have been used in some prosthetic knees in the past years, but only a few publications have been written on the special functions of the mechanism as used in transfemoral prosthesis. This paper investigates the advantages of the mechanism as used in the prosthetic knee from the kinematic and instant inactive joints points of view. Computer simulation and an optimization method were used in the investigation. The results show that the six-bar mechanism, as compared to the four-bar mechanism, can be designed to better achieve the expected trajectory of the ankle joint in swing phase. Moreover, a six-bar linkage can be designed to have more instant inactive joints than a four-bar linkage, hence making the prosthetic knee more stable in the standing phase

Anahtar Kelimeler

Genetic Algorithm, Six-Bar Mechanism, Prosthetic Knee

Kaynakça

• [1] Zarrugh, M.Y. and Radcliffe, C.W., Simulation of swing phase dynamics in above-knee prostheses, J. Biomech., 9(5), 283-292, 1996.
• [2] Hobson, D.A. and Torfason, L.E., Computer optimization of polycentric prosthetic knee mechanisms, Bull. Prosthet. Res., (10-23), 187-201, 1975.
• [3] Hobson, D.A. and Torfason, L.E., Optimization of four-bar knee mechanism. a computerized approach, J Biomech., 7(4), 371-76, 1974.
• [4] Radcliffe, C.W., Four-bar linkage prosthetic knee mechanisms: kinematics, alignment and prescription criteria, Prosthet Orthet Int., 18(3), 159-73, 1994.
• [5] Van, De. and Veen, PG., Principles of multiple-bar linkage mechanisms for prosthetics knee joints, Abstract of the 8th World Congress, ISPO, Melbourne, Australia, 1994.
• [6] Patil, K.M. and Chakraborty, J.K., Analysis of a new polycentric above-knee prosthesis with a pneumatic swing phase control, J. Biomech., 24(3,4), 223-33, 1991.
• [7] Nakagawa, A., Intelligent knee mechanism and the possibility to apply the principle to other joint, Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology, Hong Kong, China, 1998.
• [8] Jin, D., Zhang, R., Zhang, J., Wang, R. and Gruver, W.A., An intelligent above knee prosthesis with EMG based terrain identification, Proceedings of 2000 IEEE International Conference on System, Man and Cybernetics, Nashville, Tennessee, 2000.
• [9] Zhang, R., Jin, D. and Zhang, J., Analysis of the temporal inactive joints in multi-linkage mechanisms, J Tsinghua Univ Sci Techno,. 40(4), 39-42, 2000.
• [10] Goldberg, D.E., Genetic Algorithms in Search, Optimization & Machine Learning, AddisonWesley, Reading, MA, 1989.
• [11] Man, K.F., Tang, K.S. and Kwong, S., Genetic Algorithms: Concepts and Designs, Springer, London; 1999.