#TITLE_ALTERNATIVE#

• Main Author: OCTAMA HALIM (nim : 13113002), ABRAHAM
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/20686
• Institution: Institut Teknologi Bandung

This final project concerns the design of an active ankle-foot prosthesis to assuade the problem of the passive prosthesis, that is the high metabolic rate of the amputee. This is caused by the absence of positive work exerted by the prosthesis, giving inadequate torque on push-off as the user is walking. On that note, the active prosthesis is designed using an actuator as the torque and positive work source needed by the prosthesis to decrease the metabolic rate of the amputee so that it resembles the normal human. <br /> <br /> <br /> Parameters used in the design process is the behavior of torque vs ankle angle of a normal human and the behavior of torque vs %stride of a normal human. Thus, the prosthesis must be able to assume two functions as the torque source and impedance source. The mechanism chosen in the design of this prosthesis is the catapult mechanism, as to lower the required motor power. <br /> <br /> <br /> The conceptual design of the prosthesis is made and the equations are derived from every phase of the gait cycle, then plotted on the graphs of torque vs ankle angle and torque vs %stride, according to the desired parameters. After the behavior of the prosthesis is deemed similar to that of a normal humanm ankle, the control system is designed with sensors and microcontroller. The prototype model is made and evaluated mechanically and from the control point of view.