DTA

Corso Ordinario Secondo Livello

FAGIOLI, ILARIA

etd-11142022-173754

Dynamic modelling of an underactuated design for an active transfemoral prosthesis

Cl. Sc. Sperimentali - Ingegneria

INGEGNERIA - INGEGNERIA

relatore Prof. VITIELLO, NICOLA
Presidente Prof. AVIZZANO, CARLO ALBERTO
Membro Dott. LEONARDIS, DANIELE
Membro Prof. CIPRIANI, CHRISTIAN
Membro Prof. DI PASQUALE, FABRIZIO CESARE FILIPPO
Membro Prof. FORESTIERI, ENRICO
Membro Prof.ssa MENCIASSI, ARIANNA
Membro Prof. MICERA, SILVESTRO
Membro Prof. ABENI, LUCA
Membro Prof. BIONDI, ALESSANDRO
Membro Prof. CUCINOTTA, TOMMASO
Membro Dott.ssa COLLA, VALENTINA

• dynamic model
• prosthesis
• underactuation

14/12/2022;

parziale

Despite great technological advances in the design of robotic lower-limb prostheses, there are still open problems in terms of energy efficiency, encumbrance, and weight. Among the various mechatronic design alternatives for robotic transfemoral prostheses, underactuation has recently been proposed as an approach aimed at reducing mass and dimensions of a prosthetic device thanks to the use of a single motor and a mechanism to selectively distribute power at the two joints (knee joint and ankle joint).
The objective of this thesis is to develop a dynamic model for an underactuated active transfemoral prosthesis and to experimentally evaluate the model’s performances.

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