A 3DOF transtibial robotic prosthetic limb

Abstract

A robotic prosthesis is a device which is used to replace a missing body part. These devices are intended to return the amputees to their pre-amputation functional status. Below knee (Transtibial) amputation is the most common amputation occurred in the lower limb. That is caused by reasons such as diseases, injury due to explosions of anti-personnel land mines and accidents. The existing prostheses for transtibial amputees have yet to be improved to reinstate the biomechanical functions normally provided by the ankle joint. Therefore, the purpose of this research is to develop a transtibial robotic prosthesis which would provide functions usually provided by the ankle. The proposed design consists of 3 Degrees of Freedom (DOF) to generate similar biomechanical motions at the ankle joint. Further it includes a passive regenerative system to reduce motor power requirement of dorsiflexion/plantarflexion. Experiments are carried out to verify the effectiveness of the proposed prosthetic limb and to verify the possibility of using electromyographic (EMG) signal based control of the prosthesis.