Design and Dynamic Model of A Novel Powered Above Knee Prosthesis

Nowadays, fully active lower limb prostheses are very important for amputees to have comfort, aesthetic mobility and the ideal adaptation to daily life. However, active joint control is very difficult because of changing floor conditions, and it is essential to obtain a dynamic model of prostheses for system control. In this study, the design and dynamic model of a new above-knee prosthesis are presented. Firstly, the model design of the prosthesis was proposed by using Solidworks software environment and then kinematic and dynamic model was obtained as mathematical by using both Lagrange-Euler and also Newton-Euler method. The accuracy of the results has been proved with the same results obtained by both methods. MATLAB and Scientific Notebook software were used for those calculations. The torque equations required were obtained to perform joint movements with the dynamic model calculations and a simulation was performed to demonstrate the torques required for a gait cycle. Torque equations obtained were used for system control, motors selection and optimization in other studies.