d33934bc-9cf2-432f-b6a1-1df02982bca720230510081444927wseas:wseasmdt@crossref.orgMDT DepositWSEAS TRANSACTIONS ON SYSTEMS AND CONTROL2224-28561991-876310.37394/23203http://wseas.org/wseas/cms.action?id=40731220231220231810.37394/23203.2023.18https://wseas.com/journals/sac/2023.phpDevelopment and Control of Concise Semi-Active Ankle ProsthesisE. G.ShehataFaculty of Engineering, Minya University, Minya, EGYPTMariem Y.WilliamFaculty of Engineering, Minya University, Minya, EGYPTA. A.HassanFaculty of Engineering, Minya University, Minya, EGYPTKhalilIbrahimDepartment of Mechatronics, Faculty of Engineering, Assiut University, EGYPTThe Concise Semi-Active Ankle Prosthesis is developed and controlled in this paper. Modern ankle prostheses are devices that exchange the absent limbs, making it possible for amputees to run again. Utilizing both parallel and series spring systems, the compact semi-active ankle prosthetic is created. The leaf series springs, parallel springs, and a cam make up the ankle prosthesis's compact, semi-active model. To minimize torque and power consumption as much as possible, the parallel and series springs must work as a nonlinear system. The concise semi-active ankle prosthetic was modeled using the CADCAM software. ANSYS was employed to implement a finite element analysis of the model. Static structure simulation is carried out with a loading force of 1500 N representing the personal weight. The model is imported into MATLAB/Simulink to be controlled after being run via ADAMS for dynamic analysis. The performance of the model with control is extremely close to that of the non-amputee ankle, according to simulation data. To test this model, the concise semi-active ankle prosthetic is manufactured as is modeled using the CAD-CAM program. The control system consists of a DC motor, Arduino uno, Hbridge, encoder, and current sensor. The motion of the compact semi-active ankle prosthetic is extremely comparable to the motion of the non-amputee, according to the simulation and testing results.5102023510202310812012https://wseas.com/journals/sac/2023/a245103-1241.pdf10.37394/23203.2023.18.12https://wseas.com/journals/sac/2023/a245103-1241.pdfValerio Carli, “Design of An Active Foot for A Smart Prosthetic Leg”, Ph.D. thesis, Technical University of Darmstadt, 2007. 10.1109/icra.2015.7140104Joshua M. Caputo, “Informing Ankle-Foot Prosthesis Design and Prescription Through Systematic Experimentation with A Tethered Robotic Prosthesis”, Ph.D. thesis, Carnegie Mellon University, May 2015. Kevin Smith, “The Mechanical Response and Parametric Optimization of Ankle-Foot Devices”, Master thesis, University of Central Florida, Orlando, Florida, 2016. 10.32469/10355/85840Colin Grace Dr., and Josiah Bryan, “Prosthetic Foot Design with Biomimetic Ankle Mechanism”, Master thesis, the University of Missouri, Columbia, May 2021 Sandesh Ganapati Bhat, “Design and Development of a Passive Prosthetic Ankle”, Master thesis, Arizona State University, December 2017. Robert Lynn Holgate, “Advancements in Prosthetics and Joint Mechanisms”, Ph.D. thesis, Arizona State University, August 2017. 10.1109/access.2020.2983518Dianbiao Dong, Wenjie Ge, Bryan Convens, Yuanxi Sun, Tom Verstraten, and Bram Vanderborght, “Design, Optimization and Energetic Evaluation of An Efficient Fully Powered Ankle-Foot Prosthesis with A Series Elastic Actuator”, IEEE Access, DOI: 10.1109/ACCESS.2020.2983518, 2020. 10.1098/rspb.2011.1194Hugh M. Herr and Alena M. Grabowski, ‘‘Bionic Ankle–Foot Prosthesis Normalizes Walking Gait for Persons with Leg Amputation”, Proc. R. Soc. B, vol. 279, pp. 457- 464, 2012. 10.1007/s10514-017-9641-1Joost Geeroms, Louis Flynn, Rene JimenezFabian, Bram Vanderborght, and Dirk Lefeber, “Energetic Analysis and Optimization of A MACCEPA Actuator in An Ankle Prosthesis”, Auton Robot, DOI 10.1007/s10514-017-9641-1, 2017. 10.3390/s19122796Xianta Jiang, Mohsen Gholami, Mahta Khoshnam, Janice J. Eng, and Carlo Menon, “Estimation of Ankle Joint Power During Walking Using Two Inertial Sensors”, sensors, doi:10.3390/s19122796, 2019. 10.1007/s42452-020-1955-5Mohammad Javad Fotuhi, Orkun Yılmaz, and Zafer Bingul, “Human Postural Ankle Torque Control Model During Standing Posture with A Series Elastic Muscle-Tendon Actuator”, Applied Science, DOI.org/10.1007/s42452-020-1955-5, 2020. 10.1155/2018/6756027Michael F. Eilenberg, Ken Endo, and Hugh Herr, “Biomechanic and Energetic Effects of a Quasi-Passive Artificial Gastrocnemius on Transtibial Amputee Gait”, Hindawi Journal of Robotics, doi.org/10.1155/2018/6756027, 2018. 10.1007/s11465-016-0383-0Huaxin Liu, Marco Ceccarelli, and Qiang Huang, “Design and simulation of a cablepulley-based transmission for artificial ankle joints”, Front. Mech. Eng., Vol: 11(2), pp: 170–183, DOI 10.1007/s11465-016-0383-0, 2016. 10.3390/ma13245806Stefano Alleva, Michele Gabrio Antonelli, Pierluigi Beomonte Zobel, and Francesco Durante, “Biomechanical Design and Prototyping of A Powered Ankle-Foot Prosthesis”, Materials, Doi:10.3390/ma13245806, 2020. 10.1109/tnsre.2020.3033474Emily A. Rogers, Matthew E. Carney, Seong Ho Yeon, Tyler R. Clites, Dana Solav, and Hugh M. Herr, “An Ankle-Foot Prosthesis for Rock Climbing Augmentation”, IEEE Transactions on neural systems and rehabilitation engineering, Vol. 29, 2021. 10.1115/1.4028653Jonathan Realmuto, Glenn Klute, and Santosh Devasia, “Nonlinear Passive CamBased Springs for Powered Ankle Prostheses”, Journal of Medical Devices, DOI: 10.1115/1.4028653, 2015. 10.1109/robio.2016.7866367Fei Gao, Yannan Liu, and Wei-Hsin Liao, “A New Powered Ankle-Foot Prosthesis with Compact Parallel Spring Mechanism”, Proceedings of the 2016 IEEE International Conference on Robotics and Biomimetics Qingdao, China, December 3-7, 2016 10.1115/1.4039385Fei Gao, Yannan Liu, and Wei-Hsin Liao, “Design of Powered Ankle-Foot Prosthesis with Nonlinear Parallel Spring Mechanism”, Journal of Mechanical Design, vol. 140, 2018. 10.3390/act9030074Michael F. Eilenberg, Jiun-Yih Kuan, and Hugh Herr, “Development and Evaluation of a Powered Artificial Gastrocnemius for Transtibial Amputee Gait”, Hindawi Journal of Robotics, https://doi.org/10.1155/2018/5951965, 2018 20] Amirreza Naseri, Majid Mohammadi Moghaddam, Mohammad Gharini and Maziar Ahmad Sharbaf, “A Novel Adjustable Damper Design for A Hybrid Passive Ankle Prosthesis”, Actuators journal, doi:10.3390/act9030074, 2020. 10.1109/tro.2008.2008747Samuel K. Au, Jeff Weber, and Hugh Herr, “Powered Ankle–Foot Prosthesis Improves Walking Metabolic Economy”, IEEE Transactions on Robotics, Vol. 25, No. 1, 2009. 10.1016/j.aej.2019.05.009Mark A. Kamel, Khalil Ibrahim, and Abo ElMakarem Ahmed, “Vibration control of smart cantilever beam using finite element method”, Alexandria Engineering Journal, Vol. 58, pp. 591-601, 2019. 10.21608/jaet.2022.106976.1131Mariem Y. William, Khalil Ibrahim, A. A. Hassan, E. G. Shehata (2023) Development and control of a semi active prosthetic ankle, Journal of advanced engineering, Vol. 42, No. 2. 10.3389/fnbot.2018.00080louis Flynn, Joost Geeroms, Rene JimenezFabian, Sophie Heins, Bram Vanderborght, Marko Munih, Raffaele Molino Lova, Nicola Vitiello, and Dirk Lefeber, “The Challenges and Achievements of Experimental Implementation of an Active Transfemoral Prosthesis Based on Biological QuasiStiffness: The CYBERLEGs BetaProsthesis”, frontiers in neurorobotics, DOI: 10.3389/fnbot.2018.00080, Dec 2018. 10.1109/mra.2008.927697Samuel K. Au, and Hugh M. Herr, “Powered Ankle-Foot Prosthesis”, IEEE Robotics, Automation Magazine, PP. 52-59, 2008. M. L. Palmer, Hugh M. Herr, and Woodie C. Flowers, “Sagittal Plane Characterization of Normal Human Ankle Function Across a Range of Walking Gait Speeds,” Master’s thesis, Department Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, 2002. 10.21608/jaet.2022.106976.1131Mariem Y. William, E. G. Shehata, A. A. Hassan, Khalil Ibrahim, “The analysis of the Concise semi-active ankle prosthetic by using the ANSYS program”, Journal Of Optoelectronics Laser, Vol. 42, NO. 1, pp. 12-23, DOI: 10050086.2023.1.2, 2023. Online shop for high precise drive systems by maxon | maxon group. 10.1115/dmd2017-3517Alexander J. Folz, B.S, “Design of a Passive Ankle Prosthesis with Energy Return That Increases with Increasing Walking Velocity”, Master thesis, Marquette University, Milwaukee, Wisconsin, December 2017. 10.1109/iembs.2007.4352965Au, H. Herr, and Martinez Villalpando, “Powered Ankle-Foot Prosthesis for the Improvement of Amputee Ambulation”, 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2007.