Instrumentation of a transtibial prototype to replicate the ankle gait cycle
Abstract
The present work describes the electrical and electronic instrumentation of a prosthetic prototype designedfor a transtibial amputation at the level of the upper third of the tibia; the proposed instrumentation
integrated a central control whose main element is a Raspberry Pi Zero W microprocessor. This prototype
has minimum viable characteristics that allow it to reproduce the movement of the ankle during the
gait cycle. To validate the proposed instrumentation a state machine and a PD-type controller are used,
both of which were implemented in embedded programming in the microprocessor using an open-source
multiplatform language. Finally, the results of tracking the ankle trajectory during the gait cycle are shown.
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References
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