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Design and Fabrication of a
Controllable Knee for Above Knee
            Amputees
SECTION – 01

• Introduction

• Objectives

• Project outline

• Methodology
Above Knee Amputation
• What is AKA ?
• Due to what ?
• What are the Solutions ?


        ....... AKAs in Sri Lankan.
Available Products and Facilities for AKAs
              in Sri Lanka
• Jaipur Knee




• WalkRite Limited
• A J Medichem ...
Project Outline




                                Prototype
                  Develop       Design
                  the...
Objectives
• Study the previous project.
• Less power consuming and a light weight
  design.
• Reduce the electronic senso...
Methodology


•Study the previous
                           Stage 02         •Apply the new
                             ...
SECTION - 02
• Experimental Setup
  – Motion capture for gait analysis via MATLAB
  – Use of a mechanical sensors to measu...
Motion Capture to Gait Analysis
• Video recording
  – Shutter speed- 1/25 s
  – Aperture- f/4
  – Frame rate- 24
• Upload ...
• Select the region where points hanging
• Segment the points




• Find the center of the segmented points
  – SE = strel...
Result
MATLAB Simulations and Modelling
• Measuring the segment angle and displacement using gait
  data.
Derive the equation of motion using
            curve fitting




          f(x) = a1*sin(b1*x+c1) + a2*sin(b2*x+c2) + a3*...
Design the motion using MATLAB Simulink
Derive the torque at both knee during
               walking
Use of QE to measure knee angle
• Encoder - HP HEDS 5500 C11

• CPR (counts per revolution) – 100

• Data acquisition soft...
Results
• Knee angle during level ground walking -
SECTION - 03

• Control System

• Prototype Design

• Specifications

• Further Improvements
Relationship between heel strike and toe strike of the real and
prosthetic leg -

•   PLH = 1 - Prosthetic Leg Heel is on ...
Finite State Machine -
Factors to be Considered Prior to Design-
New approach to mechanical design of the leg and related factors -
Mobile Artificial Limb Clinic

• Held at - District General Hospital, Mannar, Sri Lanka.



    During the project
    per...
Ranaviru Sewana
Undergraduate Research Project Presentation
Undergraduate Research Project Presentation
Undergraduate Research Project Presentation
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Undergraduate Research Project Presentation Slide 1 Undergraduate Research Project Presentation Slide 2 Undergraduate Research Project Presentation Slide 3 Undergraduate Research Project Presentation Slide 4 Undergraduate Research Project Presentation Slide 5 Undergraduate Research Project Presentation Slide 6 Undergraduate Research Project Presentation Slide 7 Undergraduate Research Project Presentation Slide 8 Undergraduate Research Project Presentation Slide 9 Undergraduate Research Project Presentation Slide 10 Undergraduate Research Project Presentation Slide 11 Undergraduate Research Project Presentation Slide 12 Undergraduate Research Project Presentation Slide 13 Undergraduate Research Project Presentation Slide 14 Undergraduate Research Project Presentation Slide 15 Undergraduate Research Project Presentation Slide 16 Undergraduate Research Project Presentation Slide 17 Undergraduate Research Project Presentation Slide 18 Undergraduate Research Project Presentation Slide 19 Undergraduate Research Project Presentation Slide 20 Undergraduate Research Project Presentation Slide 21 Undergraduate Research Project Presentation Slide 22 Undergraduate Research Project Presentation Slide 23 Undergraduate Research Project Presentation Slide 24 Undergraduate Research Project Presentation Slide 25 Undergraduate Research Project Presentation Slide 26 Undergraduate Research Project Presentation Slide 27
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Undergraduate Research Project Presentation

  1. 1. Design and Fabrication of a Controllable Knee for Above Knee Amputees
  2. 2. SECTION – 01 • Introduction • Objectives • Project outline • Methodology
  3. 3. Above Knee Amputation • What is AKA ? • Due to what ? • What are the Solutions ? ....... AKAs in Sri Lankan.
  4. 4. Available Products and Facilities for AKAs in Sri Lanka • Jaipur Knee • WalkRite Limited • A J Medichem Major Prosthesis Importers • International Health Care • Dept. of prosthetic leg manufacturing, Ranaviru Sewana, Ragama • July 7th to 23rd 2009 – Sri Lanka’s first mobile artificial limb clinic
  5. 5. Project Outline Prototype Develop Design the Control Capture System Gait Data
  6. 6. Objectives • Study the previous project. • Less power consuming and a light weight design. • Reduce the electronic sensor requirement. • Develop the communication between two legs in real time. • Design and fabricate the bionic leg.
  7. 7. Methodology •Study the previous Stage 02 •Apply the new Stage 04 •Install the project mimic mechanism prototype to an •Computer aided •Develop a prototype •Conduct a •Conduct a existing prosthetic design of the knee •Check whether it can literature survey simulation test leg in the market •Selection of an acquire the required actuation motion real time Stage 01 mechanism Stage 03 Stage 05
  8. 8. SECTION - 02 • Experimental Setup – Motion capture for gait analysis via MATLAB – Use of a mechanical sensors to measure the knee joint angle – MATLAB Simulink walking model • Results analysis
  9. 9. Motion Capture to Gait Analysis • Video recording – Shutter speed- 1/25 s – Aperture- f/4 – Frame rate- 24 • Upload to the Mat lab workspace
  10. 10. • Select the region where points hanging • Segment the points • Find the center of the segmented points – SE = strel('disk', N) – Threshold (0-1)
  11. 11. Result
  12. 12. MATLAB Simulations and Modelling • Measuring the segment angle and displacement using gait data.
  13. 13. Derive the equation of motion using curve fitting f(x) = a1*sin(b1*x+c1) + a2*sin(b2*x+c2) + a3*sin(b3*x+c3) + a4*sin(b4*x+c4) + a5*sin(b5*x+c5) a1 = 2.92 (-664.5, 670.4) b1 = 2.092 (-132, 136.2) c1 = 0.587 (-56.2, 57.38) a2 = 1.68 (-665.6, 668.9) b2 = 3.097 (-176, 182.2) c2 = 3.303 (-71.74, 78.34) a3 = 0.2094 (0.09089, 0.3278) b3 = 11.08 (3.52, 18.64) c3 = 0.7017 (-1.986, 3.39) a4 = 0.01324 (-0.1941, 0.2205) b4 = 15.96 (-12.78, 44.69) c4 = 1.76 (-11.69, 15.21)
  14. 14. Design the motion using MATLAB Simulink
  15. 15. Derive the torque at both knee during walking
  16. 16. Use of QE to measure knee angle • Encoder - HP HEDS 5500 C11 • CPR (counts per revolution) – 100 • Data acquisition software - C#.NET
  17. 17. Results • Knee angle during level ground walking -
  18. 18. SECTION - 03 • Control System • Prototype Design • Specifications • Further Improvements
  19. 19. Relationship between heel strike and toe strike of the real and prosthetic leg - • PLH = 1 - Prosthetic Leg Heel is on the ground • PLT = 1 - Prosthetic Leg Toe is on the ground • RLH = 1 - Real Leg Heel is on the ground • RLT = 1 - Real Leg Toe is on the ground
  20. 20. Finite State Machine -
  21. 21. Factors to be Considered Prior to Design-
  22. 22. New approach to mechanical design of the leg and related factors -
  23. 23. Mobile Artificial Limb Clinic • Held at - District General Hospital, Mannar, Sri Lanka. During the project period of 17 days 146 amputees were assessed
  24. 24. Ranaviru Sewana
  • rufaida1

    May. 26, 2015
  • MayaTawil

    Jan. 16, 2015

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