Modeling and simulation of human walking during wearing a powered prosthesis

A definition of the duties between a human and a robotic device, also the organization of their interaction, basically, includes a number of different criteria that influences the effectiveness of the "human-robot" system.

In a framework of this contribution the authors introduce the multibody dynamic modelling approach of the trans-tibial device prosthesis during wearing on a human body model.

The obtained results are based on multibody dynamic simulations against the real experimental data using AMP-Foot 2.0 - an energy efficient powered trans-tibial prosthesis for actively assisted walking of amputees.