Design and Fabrication of aControllable Knee for Above Knee            Amputees
SECTION – 01• Introduction• Objectives• Project outline• Methodology
Above Knee Amputation• What is AKA ?• Due to what ?• What are the Solutions ?        ....... AKAs in Sri Lankan.
Available Products and Facilities for AKAs              in Sri Lanka• Jaipur Knee• WalkRite Limited• A J Medichem         ...
Project Outline                                Prototype                  Develop       Design                  the Contro...
Objectives• Study the previous project.• Less power consuming and a light weight  design.• Reduce the electronic sensor re...
Methodology•Study the previous                           Stage 02         •Apply the new                                  ...
SECTION - 02• Experimental Setup  – Motion capture for gait analysis via MATLAB  – Use of a mechanical sensors to measure ...
Motion Capture to Gait Analysis• Video recording  – Shutter speed- 1/25 s  – Aperture- f/4  – Frame rate- 24• Upload to th...
• Select the region where points hanging• Segment the points• Find the center of the segmented points  – SE = strel(disk, ...
Result
MATLAB Simulations and Modelling• Measuring the segment angle and displacement using gait  data.
Derive the equation of motion using            curve fitting          f(x) = a1*sin(b1*x+c1) + a2*sin(b2*x+c2) + a3*sin(b3...
Design the motion using MATLAB Simulink
Derive the torque at both knee during               walking
Use of QE to measure knee angle• Encoder - HP HEDS 5500 C11• CPR (counts per revolution) – 100• Data acquisition software ...
Results• Knee angle during level ground walking -
SECTION - 03• Control System• Prototype Design• Specifications• Further Improvements
Relationship between heel strike and toe strike of the real andprosthetic leg -•   PLH = 1 - Prosthetic Leg Heel is on the...
Finite State Machine -
Factors to be Considered Prior to Design-
New approach to mechanical design of the leg and related factors -
Mobile Artificial Limb Clinic• Held at - District General Hospital, Mannar, Sri Lanka.    During the project    period of ...
Ranaviru Sewana
Undergraduate Research Project Presentation
Undergraduate Research Project Presentation
Undergraduate Research Project Presentation
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Undergraduate Research Project Presentation

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Undergraduate Research Project Presentation

  1. 1. Design and Fabrication of aControllable Knee for Above Knee Amputees
  2. 2. SECTION – 01• Introduction• Objectives• Project outline• Methodology
  3. 3. Above Knee Amputation• What is AKA ?• Due to what ?• What are the Solutions ? ....... AKAs in Sri Lankan.
  4. 4. Available Products and Facilities for AKAs in Sri Lanka• Jaipur Knee• WalkRite Limited• A J Medichem Major Prosthesis Importers• International Health Care• Dept. of prosthetic leg manufacturing, Ranaviru Sewana, Ragama• July 7th to 23rd 2009 – Sri Lanka’s first mobile artificial limb clinic
  5. 5. Project Outline Prototype Develop Design the Control Capture System Gait Data
  6. 6. Objectives• Study the previous project.• Less power consuming and a light weight design.• Reduce the electronic sensor requirement.• Develop the communication between two legs in real time.• Design and fabricate the bionic leg.
  7. 7. Methodology•Study the previous Stage 02 •Apply the new Stage 04 •Install the project mimic mechanism prototype to an •Computer aided •Develop a prototype•Conduct a •Conduct a existing prosthetic design of the knee •Check whether it can literature survey simulation test leg in the market •Selection of an acquire the required actuation motion real time Stage 01 mechanism Stage 03 Stage 05
  8. 8. SECTION - 02• Experimental Setup – Motion capture for gait analysis via MATLAB – Use of a mechanical sensors to measure the knee joint angle – MATLAB Simulink walking model• Results analysis
  9. 9. Motion Capture to Gait Analysis• Video recording – Shutter speed- 1/25 s – Aperture- f/4 – Frame rate- 24• Upload to the Mat lab workspace
  10. 10. • Select the region where points hanging• Segment the points• Find the center of the segmented points – SE = strel(disk, N) – Threshold (0-1)
  11. 11. Result
  12. 12. MATLAB Simulations and Modelling• Measuring the segment angle and displacement using gait data.
  13. 13. Derive the equation of motion using curve fitting f(x) = a1*sin(b1*x+c1) + a2*sin(b2*x+c2) + a3*sin(b3*x+c3) + a4*sin(b4*x+c4) + a5*sin(b5*x+c5) a1 = 2.92 (-664.5, 670.4) b1 = 2.092 (-132, 136.2) c1 = 0.587 (-56.2, 57.38) a2 = 1.68 (-665.6, 668.9) b2 = 3.097 (-176, 182.2) c2 = 3.303 (-71.74, 78.34) a3 = 0.2094 (0.09089, 0.3278) b3 = 11.08 (3.52, 18.64) c3 = 0.7017 (-1.986, 3.39) a4 = 0.01324 (-0.1941, 0.2205) b4 = 15.96 (-12.78, 44.69) c4 = 1.76 (-11.69, 15.21)
  14. 14. Design the motion using MATLAB Simulink
  15. 15. Derive the torque at both knee during walking
  16. 16. Use of QE to measure knee angle• Encoder - HP HEDS 5500 C11• CPR (counts per revolution) – 100• Data acquisition software - C#.NET
  17. 17. Results• Knee angle during level ground walking -
  18. 18. SECTION - 03• Control System• Prototype Design• Specifications• Further Improvements
  19. 19. Relationship between heel strike and toe strike of the real andprosthetic leg -• PLH = 1 - Prosthetic Leg Heel is on the ground• PLT = 1 - Prosthetic Leg Toe is on the ground• RLH = 1 - Real Leg Heel is on the ground• RLT = 1 - Real Leg Toe is on the ground
  20. 20. Finite State Machine -
  21. 21. Factors to be Considered Prior to Design-
  22. 22. New approach to mechanical design of the leg and related factors -
  23. 23. Mobile Artificial Limb Clinic• Held at - District General Hospital, Mannar, Sri Lanka. During the project period of 17 days 146 amputees were assessed
  24. 24. Ranaviru Sewana

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