Abstract:
Transtibial amputees come across various stress related issues. Gait cycle of these amputees
vary from a healthy human being due to deviation in stresses primarily related to human ankle.
Human ankle biomechanics provides a control platform to analyze these stresses. Deviation in
human ankle angles, required torque and positive work done required in various phases of a gait
cycle thus becomes a focal point for understanding. Passive ankle foot prosthesis doesn’t provide
required work done for the amputee during powered plantar flexion phase of gait cycle since the
energy stored doesn’t suffice for the desired outputs therefore a more viable option is the use of
powered active ankle foot prosthesis. To design a robust control mechanism for this powered
ankle foot prosthesis is of utmost importance since it ensures mimicking human ankle
biomechanics of a healthy human being for an amputee as well. Input to this control mechanism
rests in understanding the amputee’s intent through neuromuscular EMG (Electromyography)
signals. This research thus focuses on simulating a control system for powered ankle foot
prosthesis along with neuromuscular control which will result in a natural gait cycle and
reduction of metabolic cost of transport (COT) of a transtibial amputee.
