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- W2997153419 abstract "Physical disabilities cause great distress in daily routine of people especially for leg amputees as their movement is restricted. As a civilized society, it our responsibility to provide them with better prosthetics so they can live a normal life. Previously, prosthetic legs developed are either for lower leg amputees or the upper body is considered fixed. This paper models prosthetic leg with flexibility of movement to the upper body. The human walking gait is simulated in sim mechanics by modelling four body parts that assist during walk. These parts are the torso (upper body), hip, knee and ankle joint. The movement of the upper body and the leg is initiated by the movement of these four joints. The main goal of this paper is to allow flexibility and single degree of freedom to each joint modelled in sim mechanics. The movements of these joints are synchronized in such manner that overall stability of the body is maintained. The movement of these joints will be made with reference to positions achieved by original leg. These joints are responsible for walking gait, assisted by an optimal controller, which ensure speedy response of joint movement against final position and also reduce error between measured and desired states. Linear-quadratic regulator (LQR) is used as state-feedback controller to stabilize and control the whole model. A well-tuned weighting matrix of LQR controller helps to achieve desired response from the prosthetic leg. A comprehensive analysis of measured states from joint sensors and control inputs to Joint Actuators for the Prosthetic leg model is presented as part of research. The results achieved are within physically possible limits to replicate a perfect human walking gait." @default.
- W2997153419 created "2020-01-10" @default.
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- W2997153419 date "2019-07-01" @default.
- W2997153419 modified "2023-09-24" @default.
- W2997153419 title "Development and LQR Control of Prosthetic Leg Prototype for Human Gait" @default.
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- W2997153419 doi "https://doi.org/10.1109/icecce47252.2019.8940731" @default.
- W2997153419 hasPublicationYear "2019" @default.
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