الفهرس 
Chapter One: Introduction And Literature ReviewOnly 14 pages are availabe for public view
 |  | from | 174 |  |  |
| | | from | 174 | | |
Abstract
The main goal of designing the semi-active ankle prosthetic model is to simulate the job of the lost limb. One of the stumps in the prosthetic device design is to realize the suitable range of stiffness of the arranging of joints and spring elements for different jobs, as well as changing the loading of the prosthetic device. the semi-active ankle-foot prosthesis was designed. In this thesis, the ankle-foot prosthetic with parallel springs and series spring mechanisms was designed. The model of the powered semi-active prosthetic ankle is composed of cam, series springs, and parallel springs. parallel springs, cam, and series springs are combined to form the model of the semi-active ankle prosthetic. The spring was the mechanical backbone of all prosthetic models, and several prototypes with a variety of functioning mechanisms were introduced. Springs have the power to store energies in during early stance phase and unleash it just before the swing phase, hence lowering the system’s energy consumption. To minimize power and torque consumption as much as possible you can, the parallel springs must behave as a non-linear mechanism and the series spring is connected. So, the cam with parallel springs mechanism and series spring is used. The semi-active ankle prosthesis with series and parallel springs is modeled by using the CAD-CAM program.
In this study, structural analysis of the semi-active ankle prosthesis model was carried out by using the finite element method. Furthermore, an ANSYS program was employed to implement a finite element analysis of the semi-active ankle prosthetic model structure. Static simulation is performed with a loading force of 1500 N representing the amount of the personal weight. Four materials sets are used for the semi-active ankle prosthesis model and their performance are compared. Results that appeared through stress and deformations will prove the proposed semi-active ankle prosthesis model. Finite Element analysis showed that the semi-active ankle prosthesis model can be successfully used for personal 100Kg weight. The development of a control system that can imitate biological ankle-foot performance under diverse operating situations is one of the trickiest problems in the design of power ankle-foot prosthetics. The semi-active ankle-foot prosthetic model was imported into Adams for dynamic analysis to control the prototype of the semi-active ankle-foot prosthetic in ADAMS, it was imported into MATLAB/Simulink. The virtual prototype of the ankle-foot prosthesis with and without control was compared. The results display that the ankle-foot prosthetic was improved using the control closed-loop. The performance of the powered prosthesis with control is very similar to the performance of the non-amputee ankle. The power waste of the motor is decreased by 60.5%. Besides, the angle-torque of the semi-active ankle prosthetic is very similar to the angle-torque of the non-amputee ankle.
There are three control types in this thesis. The first control is PI controller algorithm, the seconed control is fuzzy logic type-1-PI controller algorithm, the third control is fuzzy logic type-2-PI controller algorithm. The powered semi-active ankle-foot prosthetic is a complex nonlinear system. Fuzzy type-1 and type-2 logic with a Control scheme are utilized to govern the specified model under these various environmental conditions during a typical walking gait cycle. According to the findings, a powered semi-active ankle-foot prosthetic outperforms a Control scheme alone when using a fuzzy logic type-1-PI and fuzzy logic type-2-PI control approach. The semi-active ankle prosthetic is manufactured. Smaller motor is used because needed motor is expensive. The two controllers’ type (PI, fuzzy logic type-1-PI) are applied in the model. The result shows that the motion of manufactured semi-active ankle prosthetic is very similar the motion of non-amputee.