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A De-risked Bio-inspired Condylar Prosthetic Knee Joint for a Robotic Leg Test Rig
Subham Agrawal,Chathura Simasinghe,Aghil Jafari,Appolinaire Etoundi,Jun Jie Chong 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10
The design of the human knee joint has been a challenging task due to the presence of intricate parts, complex mechanisms and their interdependence which joins them together. A bio-inspired design for the condylar knee joint has been proposed in earlier publications [1], [2]. However, the manufacturing limitation of the design was not considered. This paper introduces a de-risked and optimised design through the use of standard design and manufacturing techniques based on the gathered data from a robotics leg test bench. Moreover, this paper presents an optimised design derived from a state-of-the-art artificial intelligence tool. The optimized design using conventional methods is tested against real-world loading conditions during finite element analysis and the results are presented.
Panashe Sabau,Jun Jie Chong,Aghil Jafari,Subham Agrawal,Chathura Semasinghe,Appolinaire Etoundi 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10
In the past century many medical advancements in prosthetics have been achieved, however, discomfort in prosthetic socket remains one of the toughest challenges faced by both amputees and prosthetists. Wearing an uncomfortable socket can lead to users discontinuing use of their socket and subsequently reducing their long-term mobility; negatively impact their psychological health; and prolong rehabilitation. This paper continues the research conducted in earlier publications [1], [2], which introduced the concept of an automated ISO standard robotic testing rig to test a full artificial limb prosthesis (a bio-inspired transfemoral prosthetic socket attached to robotic prosthetic joints and an ankle joint). This paper presents an automated method of designing the bio-inspired socket using artificial intelligence to reduce discomfort and the design time of new or existing full artificial lower limbs using qualitative and quantitative data. The socket will be tested in a gait simulation shown in the figure 7, to safely achieve desirable walking velocities, step length, safety and comfort while consequentially reducing the physical testing on patients and consequentially reduce physical testing on patients.