Tesi etd-11022020-185038 |
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Tipo di tesi
Tesi di laurea magistrale
Autore
MAZZARINI, ALESSANDRO
URN
etd-11022020-185038
Titolo
Analysis of the mechanical model and verification of gait segmentation algorithms of a semi-active transtibial prosthesis
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
BIONICS ENGINEERING
Relatori
relatore Prof. Vitiello, Nicola
relatore Dott.ssa Crea, Simona
relatore Dott.ssa Crea, Simona
Parole chiave
- Gait
- Kinematic Model
- Prosthesis
- Robotics
- Segmentation
- Semi-active
- Transtibial
Data inizio appello
04/12/2020
Consultabilità
Non consultabile
Data di rilascio
04/12/2090
Riassunto
The present work analyse the mechanical model of a semi-active transtibial prosthesis and aims at verify its gait segmentation algorithms implemented in the middle-level controller. With the mechanical model it is possible to estimate the ankle angle. Moreover, an estimate of the energy delivered by the actuator on board can be found. The segmentation algorithms are 3, based respectively on the signals of an IMU, a sensorized foot and a load cell. The verification of the gait segmentation algorithms is done by analysing the delays and the estimated stance duration with respect to the force-platform reference.
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