Research of the dynamical properties of mechatronic prosthesis

The mechatronic ankle prosthesis plays a crucial role in the recreation of natural gait biomechanics by being able to actively control time-torque parameters in different sub-phases of the walking cycle. This paper presents a methodology for improving the design process of the individual characteristics of the object of interest. A series of tests were taken to derive a correlation between an actual structure and a developed mathematical model to determine the parameters of the object under investigation. The model provides a possibility to determine time-changing force-related properties to capture a full picture of the structure for which a particular design is being chosen. The method also acts as a tool to expand traditional design criteria to get the overall view of the structural dynamics of the mechanical system.