Design And Analysis Of A New Bionic Foot And Ankle Bionic Prosthesis

Many reasons such as population aging will lead to an increase in the proportion of lower limb amputation patients,and the increase in the number of amputation patients will greatly promote and require the further development and improvement of a series of orthoses such as prostheses.Effective prosthetic equipment can help amputee patients regain lost limb function and achieve normal human gait.At present,foot and ankle prostheses often put forward a variety of research directions in their response control and driving methods,and there are few in-depth studies on the biomimetics of the prosthetic mechanisms they design,so this paper will focus on bionics,conduct bionic research on the drive and freedom of prosthetic mechanisms,and design a bionic foot and ankle prosthesis that conforms to muscle theory in terms of drive and ankle freedom in structure.Kinematic analysis,dynamic analysis,performance analysis optimization,finite element optimization and simulation,control analysis are carried out.The main research contents of this paper are:By responding to the change of muscle force in human gait walking,the theoretical model of muscles based on soleus muscle and tibial anterior muscle was established,and the modeling theory used was the muscle model modeling theory proposed by Hill,which combined with the use needs of foot and ankle prosthesis to meet the corresponding muscle physiological characteristics.Based on the established muscle model,the drive design was carried out using the flexible lasso drive as the driving method.The transmission performance of the designed lasso drive is analyzed,and the relationship between the output torque and output angle and the input torque and output angle of the drive is obtained.In order to further verify the input-output relationship of this set of cable drives,this paper builds a drive simulation model in Recurdyn to verify the input and output characteristics of the drives.A 2-degree-of-freedom ankle prosthetic model with the physiological motor properties of ankle joint was designed,in which the ankle prosthesis model was optimized for the angle of ankle rotation axis arrangement,and the simulation optimization of the arch curve of the plantar plate was optimized.The corresponding optimization values are obtainedThe PID control model of the designed foot and ankle bionic prosthesis was constructed,and the control effect was co-simulated by Simulink-Recurdyn.In order to improve the tracking effect,the control curve is predicted by the Kalman filter algorithm to improve the control performance.