Design, Build, and Control System Testing of a Robotic Ankle Prosthesis for Indonesian Amputees
The most common solution for helping people who had underwent lower-limb amputation is using legged prostheses. However, these legged prostheses are generally passive and unable to produce positive work during walking like an actual leg. The obvious solution to this issue is the use of active lower...
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| Format: | Final Project |
| Language: | Indonesia |
| Online Access: | https://digilib.itb.ac.id/gdl/view/26828 |
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| Institution: | Institut Teknologi Bandung |
| Language: | Indonesia |
| Summary: | The most common solution for helping people who had underwent lower-limb amputation is using legged prostheses. However, these legged prostheses are generally passive and unable to produce positive work during walking like an actual leg. The obvious solution to this issue is the use of active lower limb prostheses that can help propel the body forward during walking similar to intact legs. <br />
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In this work, an active ankle prosthesis known as SPARKy designed by Arizona State University is redesigned to become more compliant for Indonesian amputee. To redesign the prosthetic, the exact same calculation methods from the known active prosthetic are used and fed with input parameters that can produce a robotic ankle that meets the able-bodied ankle characteristics of the typical Indonesian. <br />
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The control scheme is later developed and tested after being integrated to the manufactured mechanical system. The resulting test concludes that the control system is imperfect. However, it is still able to output a respond with a trend similar to the given command. Thus, the device still has a potential to be optimized further. |
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