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Design and analysis of magnetorheological damper based ankle-foot prosthesis prototype
Industrial Robot ( IF 1.8 ) Pub Date : 2021-08-24 , DOI: 10.1108/ir-04-2021-0084
Sachin Negi 1 , Ujjwal Sagar 2 , Vijay Kumar Nautiyal 3 , Neeraj Sharma 1
Affiliation  

Purpose

This paper aims to design and analyze a controlled magnetorheological damper-based ankle-foot prosthesis prototype.

Design/methodology/approach

The ankle-foot prostheses prototype is proposed using the lightweight three dimensional (3 D)-printed parts, MR damper and digital servomotor. Initially, the computer-aided design (CAD) model of the prosthetic foot, leaf spring, retention spring and the various connecting parts required to connect the pylon and damper actuator assemblies are designed using CAD software. Later, the fused deposition modeling 3 D printer-based technique prints a prosthetic foot and other connecting parts using Acrylonitrile Butadiene Styrene filament. The prototype consists of two control parts: the first part controls the MR actuator that absorbs the impacts during walking. The second part is the control of the electric actuator intended to generate the dorsiflexion and plantar flexion movements. Finally, the prototype is tested on a transtibial amputee under the supervision of a prosthetist.

Findings

The ANalysis SYStems software-based analysis has shown that the prosthetic foot has a factor of safety values between 4.7 and 8.7 for heel strike, mid-swing and toe-off; hence, it is safe from mechanical failure. The designed MR damper-based ankle-foot prosthesis prototype is tested on an amputee for a level-ground walk; he felt comfortable compared to his passive prosthesis.

Originality/value

The design of an MR damper-based prosthesis prototype offers a better dynamic range for locomotion than passive prostheses. It reduces the injuries and provides relief to the transtibial amputees.



中文翻译:

基于磁流变阻尼器的踝足假体原型设计与分析

目的

本文旨在设计和分析一种基于受控磁流变阻尼器的踝足假肢原型。

设计/方法/方法

使用轻量级三维 (3D) 打印部件、MR 阻尼器和数字伺服电机提出了踝足假肢原型。最初,使用 CAD 软件设计了假足、板簧、保持弹簧以及连接挂架和阻尼器致动器组件所需的各种连接部件的计算机辅助设计 (CAD) 模型。后来,基于 3D 打印机的熔融沉积建模技术使用丙烯腈丁二烯苯乙烯丝打印假足和其他连接部件。该原型由两个控制部分组成:第一部分控制吸收行走过程中冲击的 MR 致动器。第二部分是用于产生背屈和跖屈运动的电动致动器的控制。最后,

发现

基于分析系统软件的分析表明,假足的足跟触地、中摆和脚趾离地的安全系数在 4.7 和 8.7 之间;因此,它不会出现机械故障。设计的基于 MR 阻尼器的踝足假肢原型在截肢者身上进行了平地行走测试;与他的被动假肢相比,他感觉很舒服。

原创性/价值

基于 MR 阻尼器的假肢原型的设计为运动提供了比被动假肢更好的动态范围。它减少了伤害并为经胫截肢者提供了缓解。

更新日期:2021-08-24
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