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Assessing the Orbital Stability for Walking with Four Prosthetic Feet at Different Speeds

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ROMANSY 21 - Robot Design, Dynamics and Control (ROMANSY21 2016)

Part of the book series: CISM International Centre for Mechanical Sciences ((CISM,volume 569))

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Abstract

The aim of this study is to evaluate the orbital stability for walking with four prosthetic feet at normal and slow speeds. Phase plane portraits, Poincaré maps and Floquet multipliers are used in this study. The Flex Foot, SACH foot, Seattle Foot and the optimized foot are taken as the research objects. The results demonstrate that walking with Flex Foot, Seattle Foot and the optimized foot at slow speed always exhibit smaller hip and ankle flexion, compared to walking at normal speed. While the walking speed has no obvious influence on the joint activities for walking with SACH foot. Walking with the four prosthetic feet at different speeds displays the orbital stability.

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Acknowledgements

This research is supported by Chinese Scholarship Council (CSC), the National Natural Science Foundation of China (NSFC) Grant (No. 11402176) and the Fundamental Research Funds for the Central Universities.  

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Authors and Affiliations

  1. School of Life Sciences and Technology, Tongji University, Shanghai, China

    Lulu Gong & Ruowei Zhao

Authors
  1. Lulu Gong
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  2. Ruowei Zhao
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Corresponding author

Correspondence to Lulu Gong .

Editor information

Editors and Affiliations

  1. Dept. of Industrial Engineering, University of Bologna Dept. of Industrial Engineering, Bologna, Italy

    Vincenzo Parenti-Castelli

  2. Inst. für Techn. Num. Mechanik, Universität Stuttgart Inst. für Techn. Num. Mechanik, Stuttgart, Germany

    Werner Schiehlen

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© 2016 CISM International Centre for Mechanical Sciences

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Gong, L., Zhao, R. (2016). Assessing the Orbital Stability for Walking with Four Prosthetic Feet at Different Speeds. In: Parenti-Castelli, V., Schiehlen, W. (eds) ROMANSY 21 - Robot Design, Dynamics and Control. ROMANSY21 2016. CISM International Centre for Mechanical Sciences, vol 569. Springer, Cham. https://doi.org/10.1007/978-3-319-33714-2_38

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  • DOI: https://doi.org/10.1007/978-3-319-33714-2_38

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-33713-5

  • Online ISBN: 978-3-319-33714-2

  • eBook Packages: EngineeringEngineering (R0)

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