Staff View: A conceptual design and control of a novel powered ankle–foot prosthesis (RoMicP™) for heavy amputees

A conceptual design and control of a novel powered ankle–foot prosthesis (RoMicP™) for heavy amputees

A novel powered ankle–foot prosthesis (RoMicP™) is designed for heavy amputees. A novel elastic actuator, namely, a unidirectional parallel elastic actuator with series elastic element (SE+UPEA), is implemented by the employment of a harmonic reducer and a two-level cable-drive system and the applic...

Full description

Saved in:

Bibliographic Details
Main Authors:	Liu, Jingjing, Abu Osman, Noor Azuan, Al Kouzbary, Mouaz, Al Kouzbary, Hamza, Abd Razak, Nasrul Anuar, Shasmin, Hanie Nadia, Arifin, Nooranida
Format:	Conference or Workshop Item
Published:	Springer Science and Business Media Deutschland GmbH 2022
Subjects:	R Medicine TA Engineering (General). Civil engineering (General)
Online Access:	http://eprints.um.edu.my/43477/ https://www.scopus.com/inward/record.uri?eid=2-s2.0-85129248399&doi=10.1007%2f978-3-030-90724-2_28&partnerID=40&md5=700a46d5949cc6965422b5b03482ce24
Tags:	Add Tag No Tags, Be the first to tag this record!

id	my.um.eprints.43477
record_format	eprints
spelling	my.um.eprints.434772025-02-12T03:28:53Z http://eprints.um.edu.my/43477/ A conceptual design and control of a novel powered ankle–foot prosthesis (RoMicP™) for heavy amputees Liu, Jingjing Abu Osman, Noor Azuan Al Kouzbary, Mouaz Al Kouzbary, Hamza Abd Razak, Nasrul Anuar Shasmin, Hanie Nadia Arifin, Nooranida R Medicine TA Engineering (General). Civil engineering (General) A novel powered ankle–foot prosthesis (RoMicP™) is designed for heavy amputees. A novel elastic actuator, namely, a unidirectional parallel elastic actuator with series elastic element (SE+UPEA), is implemented by the employment of a harmonic reducer and a two-level cable-drive system and the application of planar torsional springs. The results of mechanical design declare that the designed structure can achieve outstanding performance on both the height of installation position and the motion range of the ankle joint. The mass of all mechanical components can meet the requirements of design. A double-loop impedance control system is developed with two constant parameters and two time-varying parameters. With optimal parameters of parallel and series springs and tuned parameters of the control system, RoMicP™ is verified by simulation under different loads. The simulation results show that the performance is remarkable in tracking the ankle position reference with small errors during walking on level ground, where the torque load on the ankle is equivalent to that of an amputee whose weight is 100 kg. © 2022, Springer Nature Switzerland AG. Springer Science and Business Media Deutschland GmbH 2022 Conference or Workshop Item PeerReviewed Liu, Jingjing and Abu Osman, Noor Azuan and Al Kouzbary, Mouaz and Al Kouzbary, Hamza and Abd Razak, Nasrul Anuar and Shasmin, Hanie Nadia and Arifin, Nooranida (2022) A conceptual design and control of a novel powered ankle–foot prosthesis (RoMicP™) for heavy amputees. In: 6th Kuala Lumpur International Conference on Biomedical Engineering, BioMed 2021, 28-29 July 2021, Virtual, Online. https://www.scopus.com/inward/record.uri?eid=2-s2.0-85129248399&doi=10.1007%2f978-3-030-90724-2_28&partnerID=40&md5=700a46d5949cc6965422b5b03482ce24
institution	Universiti Malaya
building	UM Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	Universiti Malaya
content_source	UM Research Repository
url_provider	http://eprints.um.edu.my/
topic	R Medicine TA Engineering (General). Civil engineering (General)
spellingShingle	R Medicine TA Engineering (General). Civil engineering (General) Liu, Jingjing Abu Osman, Noor Azuan Al Kouzbary, Mouaz Al Kouzbary, Hamza Abd Razak, Nasrul Anuar Shasmin, Hanie Nadia Arifin, Nooranida A conceptual design and control of a novel powered ankle–foot prosthesis (RoMicP™) for heavy amputees
description	A novel powered ankle–foot prosthesis (RoMicP™) is designed for heavy amputees. A novel elastic actuator, namely, a unidirectional parallel elastic actuator with series elastic element (SE+UPEA), is implemented by the employment of a harmonic reducer and a two-level cable-drive system and the application of planar torsional springs. The results of mechanical design declare that the designed structure can achieve outstanding performance on both the height of installation position and the motion range of the ankle joint. The mass of all mechanical components can meet the requirements of design. A double-loop impedance control system is developed with two constant parameters and two time-varying parameters. With optimal parameters of parallel and series springs and tuned parameters of the control system, RoMicP™ is verified by simulation under different loads. The simulation results show that the performance is remarkable in tracking the ankle position reference with small errors during walking on level ground, where the torque load on the ankle is equivalent to that of an amputee whose weight is 100 kg. © 2022, Springer Nature Switzerland AG.
format	Conference or Workshop Item
author	Liu, Jingjing Abu Osman, Noor Azuan Al Kouzbary, Mouaz Al Kouzbary, Hamza Abd Razak, Nasrul Anuar Shasmin, Hanie Nadia Arifin, Nooranida
author_facet	Liu, Jingjing Abu Osman, Noor Azuan Al Kouzbary, Mouaz Al Kouzbary, Hamza Abd Razak, Nasrul Anuar Shasmin, Hanie Nadia Arifin, Nooranida
author_sort	Liu, Jingjing
title	A conceptual design and control of a novel powered ankle–foot prosthesis (RoMicP™) for heavy amputees
title_short	A conceptual design and control of a novel powered ankle–foot prosthesis (RoMicP™) for heavy amputees
title_full	A conceptual design and control of a novel powered ankle–foot prosthesis (RoMicP™) for heavy amputees
title_fullStr	A conceptual design and control of a novel powered ankle–foot prosthesis (RoMicP™) for heavy amputees
title_full_unstemmed	A conceptual design and control of a novel powered ankle–foot prosthesis (RoMicP™) for heavy amputees
title_sort	conceptual design and control of a novel powered ankle–foot prosthesis (romicp™) for heavy amputees
publisher	Springer Science and Business Media Deutschland GmbH
publishDate	2022
url	http://eprints.um.edu.my/43477/ https://www.scopus.com/inward/record.uri?eid=2-s2.0-85129248399&doi=10.1007%2f978-3-030-90724-2_28&partnerID=40&md5=700a46d5949cc6965422b5b03482ce24
_version_	1825160595464257536
score	13.239859

A conceptual design and control of a novel powered ankle–foot prosthesis (RoMicP™) for heavy amputees

Similar Items