Contributions to the Dynamic Regime Behavior of a Bionic Leg Prosthesis
Marius-Valentin Drăgoi,
Anton Hadăr,
Nicolae Goga,
Florin Baciu,
Amado Ștefan,
Lucian Ștefăniță Grigore,
Damian Gorgoteanu,
Cristian Molder,
Ionica Oncioiu
Affiliations
Marius-Valentin Drăgoi
Department of Strength of Materials, Faculty of Industrial Engineering and Robotics, Politehnica University of Bucharest, 060042 București, Romania
Anton Hadăr
Department of Strength of Materials, Faculty of Industrial Engineering and Robotics, Politehnica University of Bucharest, 060042 București, Romania
Nicolae Goga
Faculty of Engineering in Foreign Languages, Politehnica University of Bucharest, 060042 București, Romania
Florin Baciu
Department of Strength of Materials, Faculty of Industrial Engineering and Robotics, Politehnica University of Bucharest, 060042 București, Romania
Amado Ștefan
Department of Integrated Aviation Systems and Mechanics, Faculty of Aircraft and Military Vehicles, “Ferdinand I” Military Technical Academy, 050141 Bucharest, Romania
Lucian Ștefăniță Grigore
Center of Excellence in Robotics and Autonomous Systems—CERAS, “Ferdinand I” Military Technical Academy, 050141 Bucharest, Romania
Damian Gorgoteanu
Center of Excellence in Robotics and Autonomous Systems—CERAS, “Ferdinand I” Military Technical Academy, 050141 Bucharest, Romania
Cristian Molder
Center of Excellence in Robotics and Autonomous Systems—CERAS, “Ferdinand I” Military Technical Academy, 050141 Bucharest, Romania
Ionica Oncioiu
Department of Informatics, Faculty of Informatics, Titu Maiorescu University, 040051 Bucharest, Romania
The purpose of prosthetic devices is to reproduce the angular-torque profile of a healthy human during locomotion. A lightweight and energy-efficient joint is capable of decreasing the peak actuator power and/or power consumption per gait cycle, while adequately meeting profile-matching constraints. The aim of this study was to highlight the dynamic characteristics of a bionic leg with electric actuators with rotational movement. Three-dimensional (3D)-printing technology was used to create the leg, and servomotors were used for the joints. A stepper motor was used for horizontal movement. For better numerical simulation of the printed model, three mechanical tests were carried out (tension, compression, and bending), based on which the main mechanical characteristics necessary for the numerical simulation were obtained. For the experimental model made, the dynamic stresses could be determined, which highlights the fact that, under the conditions given for the experimental model, the prosthesis resists.
