Abstract
Inspired by the kinesiology of human bionic joints, a transfemoral prosthetic mechanism based on a functional structure of parallel mechanism is developed for the transfemoral amputees. The walking interactive simulation is implemented based on human- prosthesis modeling to verify the kinematics of designed prosthetic mechanism, as well as explore compatibility between the amputees and prosthesis. Then, simulation- based prosthetic optimization is performed to pursue an optimized human- prosthesis model with economic metabolic consumption while eliminating compatibility error including the joints' misalignment error between affected limb and healthy limb, and the assembly error between human and prosthesis, so that the potential physical health problems can be avoided efficiently. This method has valuable for the optimal design of interactive rehabilitation robot. Finally, a developed PID- based finite state machine (FSM) strategy is used, and the kinematic validation is carried out. The results shown that the designed prosthesis possesses multi- motor characteristics, and it has a high human-like motion accuracy due to the FSM control can track prosthetic motion in each gait event. What's more, the prosthetic optimization can be an efficient method to enhance the biomechanical performance for human- prosthetic model so that prove the amputees to have a more natural and symmetry gait.
