| dc.contributor.advisor |
Hugh Herr. |
en_US |
| dc.contributor.author |
Martinez Villalpando, Ernesto Carlos |
en_US |
| dc.contributor.other |
Massachusetts Institute of Technology. Dept. of Architecture. Program In Media Arts and Sciences |
en_US |
| dc.date.accessioned |
2008-02-28T16:29:52Z |
|
| dc.date.available |
2008-02-28T16:29:52Z |
|
| dc.date.copyright |
2006 |
en_US |
| dc.date.issued |
2006 |
en_US |
| dc.identifier.uri |
http://dspace.mit.edu/handle/1721.1/37271 |
en_US |
| dc.identifier.uri |
http://hdl.handle.net/1721.1/37271 |
|
| dc.description |
Thesis (S.M.)--Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2006. |
en_US |
| dc.description |
Includes bibliographical references (leaves 89-97). |
en_US |
| dc.description.abstract |
Commercially available ankle-foot prostheses are passive when in contact with the ground surface, and thus, their mechanical properties remain fixed across different terrains and walking speeds. The passive nature of these prostheses causes many problems for lower extremity amputees, such as a lack of adequate balance control during standing and walking. The ground reaction force (GRF) and the zero moment point (ZMP) are known to be basic parameters in bipedal balance control. This thesis focuses on the estimation of these parameters using two prostheses, a powered ankle-foot prototype and an instrumented, mechanically-passive prosthesis worn by a transtibial amputee. The main goal of this research is to determine the feasibility of estimating the GRF and ZMP primarily using sensory information from a force/torque transducer positioned proximal to the ankle joint. The location of this sensor is ideal because it allows the use of a compliant artificial foot to be in contact with the ground, in contrast to rigid foot structures employed by walking robots. Both, the active and passive, instrumented prostheses were monitored with a wearable computing system designed to serve as a portable control unit for the active prototype and as an ambulatory gait analysis tool. |
en_US |
| dc.description.abstract |
(cont.) A set of experiments were conducted at MIT's gait laboratory whereby a below-knee amputee subject, using the prosthetic devices, was asked to perform single-leg standing tests and slow-walking trials. For each experiment, the GRF and ZMP were computed by combining the kinetic and kinematic information recorded from a force platform and a 3D motion capture system. These values were statistically compared to the GRF and ZMP estimated from the data collected by the embedded prosthetic sensory system and portable computing unit. The average RMS error and correlation factor were calculated for all experimental sessions. Using a static analysis procedure, the estimation of the vertical component of GRF had an averaged correlation coefficient higher than 0.96. The estimated ZMP location had a distance error of less than 1 cm, equal to 4% of the anterior-posterior foot length or 12% of the mediolateral foot width. These results suggest that it is possible to estimate the GRF between the ground and a compliant artificial prosthesis with a sensor positioned between the knee and the ankle joint. |
en_US |
| dc.description.abstract |
(cont.) Moreover, this sensory information is sufficient to closely estimate the ZMP location during the single support phase of slow walking and while standing on one leg. This research contributes to the development of fully integrated artificial extremities that mimic the behavior of the human ankle-foot complex, especially to help improve the postural stability of lower extremity amputees. |
en_US |
| dc.description.provenance |
Made available in DSpace on 2008-02-28T16:29:52Z (GMT). No. of bitstreams: 2
86110640.pdf: 13971930 bytes, checksum: ecfe97fe945b9b8f951c8b6a91b16a9a (MD5)
86110640-MIT.pdf: 13971725 bytes, checksum: 951324bcdd4df506106209ff511e3236 (MD5)
Previous issue date: 2006 |
en |
| dc.description.statementofresponsibility |
by Ernesto Carlos Martinez Villalpando. |
en_US |
| dc.format.extent |
97 leaves |
en_US |
| dc.language.iso |
eng |
en_US |
| dc.publisher |
Massachusetts Institute of Technology |
en_US |
| dc.rights |
M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. |
en_US |
| dc.rights.uri |
http://dspace.mit.edu/handle/1721.1/37271 |
en_US |
| dc.rights.uri |
http://dspace.mit.edu/handle/1721.1/7582 |
|
| dc.subject |
Architecture. Program In Media Arts and Sciences |
en_US |
| dc.title |
Estimation of ground reaction force and zero moment point on a powered ankle-foot prosthesis |
en_US |
| dc.type |
Thesis |
en_US |
| dc.description.degree |
S.M. |
en_US |
| dc.contributor.department |
Massachusetts Institute of Technology. Dept. of Architecture. Program In Media Arts and Sciences |
en_US |
| dc.identifier.oclc |
86110640 |
en_US |
