A high powered 4 DOF prosthesis for transfemoral amputees is presented in this paper. The prosthesis utilizes series elastic actuators with high powered hobby grade helicopter motors capable of providing 2880~W of power each for knee and ankle pitch and ankle roll. In addition, a yaw motor with a planetary gearbox combination is used for yaw actuation providing up to 21~Nm of torque. The prosthesis was designed to accommodate a variety of activities including, but not limited to, walking, running, and stair climbing. / Master of Science / A high powered prosthesis for transfemoral amputees is presented in this paper. Four control mechanisms, three of which are in series with springs to reduce the total power requirement of the motors, are used on the prosthesis to provide power to all motions of the leg. The prosthesis is capable of providing powered motion for knee and ankle pitch, ankle roll, and ankle yaw, i.e. ankle rotation from side to side. The prosthesis was designed to handle a variety of activities including, but not limited to, walking, running, and stair climbing.
| Identifer | oai:union.ndltd.org:VTETD/oai:vtechworks.lib.vt.edu:10919/90791 |
| Date | 01 July 2019 |
| Creators | Greczek, Brandyn Thomas |
| Contributors | Mechanical Engineering, Asbeck, Alan T., Leonessa, Alexander, Nussbaum, Maury A. |
| Publisher | Virginia Tech |
| Source Sets | Virginia Tech Theses and Dissertation |
| Detected Language | English |
| Type | Thesis |
| Format | ETD, application/pdf, application/pdf, application/pdf |
| Rights | In Copyright, http://rightsstatements.org/vocab/InC/1.0/ |
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