A transtibial prosthesis design proposal that incorporates torque and position control techniques

This project involves the mechanical redesign of a transtibial prosthesis to implement an assisted system that considers the biomechanical characteristics of normal human gait, using Autodesk Inventor® software and selecting appropriate materials [1]. The new design incorporates a double toggle mechanism with springs to provide stability and damping during walking, with simulations confirming that these requirements are met. The project also aims to design a control system for a transtibial ankle prosthesis that can generate movement patterns similar to those of a natural limb while walking [2]. A position control system has been proposed and evaluated, and MATLAB® simulations have shown that the system's output matches the ankle's angular displacement trajectory. The prosthesis aims to improve the quality of life for amputees by precisely replicating the natural movement of the foot and ankle [3].