Simplified analytical dynamic model for a parallel prosthetic elbow.
A three degree of freedom elbow prosthesis impelled by linear actuators disposed in parallel is modeled by the Lagrange-Euler method. The method proposes to replace a parallel mechanism with an equivalent serial topology with the purpose of calculating the Lagrangian, however the parallel topology is used for the calculus of forces and torques. The result is a simplification in the mathematical analysis without an important loss in precision.
Mendoza-Vazquez
Rafael
R
Instituto Nacional de Astrofísica Optica y Electrónica Luis Enrique Erro 1, Puebla México.
Escudero-Uribe
Apolo Z
AZ
Fernandez-Mulia
Raul
R
D032701:Biomimetics / Q000295:instrumentation* / Q000379:methods; D003198:Computer Simulation; D017076:Computer-Aided Design; D004550:Elbow / Q000502:physiology*; D004867:Equipment Design; D019544:Equipment Failure Analysis; D005246:Feedback; D006801:Humans; D008954:Models, Biological; D009989:Orthotic Devices; D011312:Pressure; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D013314:Stress, Mechanical; D014159:Transducers