Simulation of kinematic behaviour of prosthetic devices

Abstract

Beside the possibility to actively control the amount of damping in artificial joints, modern prosthetic devices should have the ability to generate power. This would enable persons with amputation to achieve biologically realistic kinematics and dynamics of locomotion.Recent development in prosthetics is primarily influenced by new knowledge and research performed in the field of human body biomechanics. Tracking of human body motion is based on the use of appropriate optical or magnetic markers, which are placed on specific landmark points, and real-time estimating of their spatial coordinates. With the improvements introduced in computer monitoring of human motion, it is important to lay emphasis on the significance of combining motion capture data with commercial CAD packages, in order to conduct detailed motion analysis and evaluate the mechanical performance of prosthetic design using CAD virtual models.This paper presents a method of determining the functional dependence of relevant kinematic parameters on prosthetic devices, in order to define a set of data for the development of appropriate control systems for achieving the desired movement pattern. The functional dependence of change in length and velocity of linear actuators built into the knee and ankle joint of the powered transfemoral prosthesis has been analysed. These data can be used to enhance the control systemduringthe stance period of stair ascent, in order to achieve biologically equivalent locomotion.