Prognostic method for tripping over when walking for controlling the robotic ankle prosthetics
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Abstract
Generally, the walking road includes many bumps. In order to wear a robotic ankle prosthesis and walk on a general walkway, it is necessary to control the robotic ankle prosthesis so that it can cope with tripping over when it is
caught by a bump. The purpose of this study was to analyze the kinetic behavior of the ankle and to determine the discrimination method of the case of tripping over by unevenness. The ankle is in bent toward plantar more than
general walking toe-off when it is caught by unevenness. and the thigh is bent toward body, the ankle is in dorsiflexion to prevent from tripping over. When tripping over, it can be discriminated according to the degree of the ankle angle and then the robot's ankle can be bent in dorsiflexion to prepare for the next movement of the body to prevent from tripping over.
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PHM
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