Abstract
The paper investigates the feasibility of externally powered lower-limb prostheses, in particular those in which walking motions would be automatically controlled. The lack of a suitable power supply is a major obstacle to the rapid development of a practical prosthesis, but a theoretical and practical study is being made of a ‘prototype walking device’, out of which, if successful, a prosthesis might evolve. The configuration of this device is outlined, with reasons for the choice, and possible actuators and sensors are discussed. A mathematical model is formulated and a control scheme is outlined which should enable the device to walk stably on small feet over uneven terrain. Results of analogue simulation of the device are summarized.
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