Stiffness Analysis of Above Knee Prosthesis

Yıl 2016, Cilt: 4 Sayı: Special Issue-1, 73 - 77, 26.12.2016

Mücahit Ege , Serdar Küçük

https://doi.org/10.18201/ijisae.267047

Öz

While a healthy human walks, his or her legs mutually perform good repeatability
with high accuracy. This provides an esthetical movement and balance. People
with above knee prosthesis want to perform walking as esthetical as a healthy
human. Therefore, to achieve a healthy walking, the above knee prosthesis must
provide a good stiffness performance. Especially stiffness values are required
when adding a second axis movement to the ankle for eversion and inversion. In
this paper, stiffness analysis of above-knee prosthesis is presented. The
translational displacement of above knee prosthesis is obtained when the
prosthesis is subjected to the external forces. Knowing stiffness values of the
above knee prosthesis, designers can compute prosthesis parameters such as
ergonomic structure, height, and weight and energy consumption.

Anahtar Kelimeler

Stiffness analysis, above knee prosthesis, joint stiffness, prosthesis, accuracy

Kaynakça

• Dumas, C., et al. A methodology for joint stiffness identification of serial robots. in Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on. 2010. IEEE.
• Alici, G. and R.W. Daniel, Static Friction Effects During Hard-on-Hard Contact Tasks and Their Implications for Manipulator Design Communication. The International journal of robotics research, 1994. 13(6): p. 508-520.
• Bruyninckx, H. and J. De Schutter, Specification of force-controlled actions in the “task frame formalism”-a synthesis. IEEE transactions on robotics and automation, 1996. 12(4): p. 581-589.
• Alici, G. and B. Shirinzadeh, Enhanced stiffness modeling, identification and characterization for robot manipulators. IEEE transactions on robotics, 2005. 21(4): p. 554-564.
• Pham, M.T., M. Gautier, and P. Poignet. Identification of joint stiffness with bandpass filtering. in Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on. 2001. IEEE.
• Mason, M.T. and J.K. Salisbury Jr, Robot hands and the mechanics of manipulation. 1985.
• Chen, S.-F. and I. Kao, Conservative congruence transformation for joint and Cartesian stiffness matrices of robotic hands and fingers. The International Journal of Robotics Research, 2000. 19(9): p. 835-847.
• Ang, M. and G.B. Andeen, Specifying and achieving passive compliance based on manipulator structure. IEEE transactions on robotics and automation, 1995. 11(4): p. 504-515.
• Abele, E., M. Weigold, and S. Rothenbücher, Modeling and identification of an industrial robot for machining applications. CIRP Annals-Manufacturing Technology, 2007. 56(1): p. 387-390.
• http://www.dictionary.com/browse/anatomical-position, 24.7.2016