Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/52036
Título: | Design and dynamic modelling of an ankle-foot prosthesis for humanoid robot |
Autor(es): | Alves, Joana Seabra, Eurico Ferreira, César Santos, Cristina Reis, L. P. |
Palavras-chave: | Ankle-foot Dynamics Prosthesis Transtibial |
Data: | 2017 |
Editora: | Institute of Electrical and Electronics Engineers Inc. |
Revista: | IEEE International Conference on Autonomous Robot Systems and Competitions |
Resumo(s): | Bipedal locomotion is an important function of the human body, as it enables the mobility of the body through space, changing, therefore, the position of the person. Thus, a trauma (i.e limb amputation) or disease of the musculoskeletal system will affect not only the individual's locomotion but also the physical and psychological health, as well as the individual's social-interaction. Thereby, this work presents the 3D sketch of a transtibial prosthesis as well as a scale reduced model to be implemented on a biped robot (DARwIn-OP Robot). This model that will serve as case study to test the mechanism proposed for human ankle-foot prosthesis, is described throughout this paper. Also, for future system control implementation, a dynamic model of the prosthesis' main mechanism is described. |
Tipo: | Artigo em ata de conferência |
URI: | https://hdl.handle.net/1822/52036 |
ISBN: | 9781509062331 |
DOI: | 10.1109/ICARSC.2017.7964064 |
ISSN: | 2573-9360 |
Arbitragem científica: | yes |
Acesso: | Acesso restrito UMinho |
Aparece nas coleções: | DEI - Artigos em atas de congressos internacionais |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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ICARSC2017_CameraReady_V4_JA.pdf Acesso restrito! | 1,18 MB | Adobe PDF | Ver/Abrir |