A Study On The Kinematic And Dynamic Analysis Of A Foot&Ankle Gait Simulator

Joint injury is very common in foot and ankle damage due to thecomplexity of human anatomy and biomechanical properties of theexistence and function of foot. Device designed in this paper is based onthe above background and mechanical and electronic control technologyare used to realize the kinematics and dynamics simulation of the gaitsimulator. Therefore the relative motion between the ankle acquisition gait,each bone joint force, muscular force and some other valuableexperimental data can be provided by the calculation and analysis of theoriginal test.Firstly, an experimental device for simulating the series type fivefreedom ankle gait, which can be in3to5seconds to simulate ankle gaitstance phase kinematics behavior and simulate the dynamic behavior wasdesigned. Also the foot bones were modeled more detailed and provided aconvenient research on motion characteristics of ankle position. Secondly,the human foot and ankle gait simulator is an open loop kinematic chain.The base is fixed to earth and transmitted to the actuator mechanism endthrough a series of connecting rod(foot) by the actuator kinematics anddynamics to complete designer. This simulator is combined with a seriesof mechanism driver to make it run.Then A kinematic model was also built in Adams to analyse thekinematic performances of the simulator. Using the control of motor inAdams, the model was driven to simulate a stance phase of the normalgait and analyse the kinematic performances. The model was analyzedthrough three directions plantar force verification in Adams.Finally, a test rig for simulation is bulit to verify the kinematic and dynamic characteristics of the model. In the previous stage of computersimulation analysis of kinematics and dynamics, the control strategy ofsimulation machine are all the open loop control which requires repeatedexperiments and continuous adjustment of control parameters.Accordingly, the design of the ankle gait simulation is verified well tofit the foot and ankle kinematics trajectory and the machine error reaches4%. Gait simulation device we built can be easily verified that human gaitto phase in the process of plantar force repeat very well. This thesis issponsored by National Natural Science Foundation.(81071237)...