A Novel Mathematical Model of a Powered Ankle-Foot Prosthesis

Abstract

Artificial limbs are important in resolving amputees' disabilities and simulating the fundamental functions of normal limbs such as walking, turning, sprinting, and even leaping. The need for prosthetic limbs grew rapidly as wars, disasters, injuries, and accidents escalated. As a consequence of humanity's requirements and commercial demands, the growth of lower limbs has accelerated and become more difficult to keep up with, particularly in the last three decades. Two mathematical models of powered ankle-foot prostheses have been studied to determine the force that the linear actuator should exert. The design of the powered ankle-foot prosthesis was investigated, as well as its mathematical models and its validity. The consequences of variation in each parametric design of the chosen model have been scrutinized.  The proposed mathematical models could find the relationship between the ankle and motor joint angles.   CAD design has been created for a more convenient model.