PROJECT PROPOSAL

A Robotic Prosthetic for Lower Limb Amputees

By Index No. 080456A 080006V 080571V Name K.Sanjeevan M.A.R Ahamed J.C.W. Edirisooriya ImechE membership No. 80181340 80146436 80155020

Advisors names and associations Dr.RARCGopura Department of Mechanical Engineering, University of Moratuwa

Department of Mechanical Engineering University of Moratuwa Sri Lanka

INTRODUCTION
A lower limb robotic prosthetic is a kind of device that redress the human leg which has amputation. Furthermore, it is a man machine combination in which the intelligence depends on human intelligence. It combines the human intelligence and the machine power so that the combined system enhances the intelligence of the machine and also the power of the prosthesis. Therefore, the limitations in artificial intelligence (AI) are overcome in these systems. The robotic prosthetic is designed as an extensor mechanical structure whose joints and linkages are corresponding to those of missing human joints and limbs respectively. Soon after the conclusion of the Civil War in Sri Lanka, perceiving the need for urgent remedy of war injured civilians such as lower limb amputation, including partial foot, ankle disarticulation, transtibial (below the knee), knee disarticulation, transfemoral (above the knee), and hip disarticulation. However, in Sri Lanka, such above technologies are not at a position to be used because such research and development have not been carried out in this field. Also hiring of such technologies and equipments are very expensive and it is not cope with our economic condition. Therefore, it is required to develop these technologies in house.

CONTEXT
There are a wide variety of prosthetics for the replacement of human lower limbs are made from various materials using a wide range of technologies. Most of the conventionally damped prosthetic legs use a pneumatic or hydraulic return mechanism to mimic the natural pendulum action of the knee [6]. This mechanism is usually set by a prosthetics to work at patients normal walking speed requires and does not allow any room for variation in speed. Changes in a patients walking speed requires the patient to compensate for any delay in knee and ankle joint action through a variety of means including altering stride length and body position, among others. Such manoeuvres lead to an abnormal gait and require extra effort and concentration for what is normally an unconscious act [2]. Microprocessor controlled lower limb prostheses use computer controlled knee mechanisms to detect step time and alter knee extension level to suit walking speed [2]. More advanced models, such as the Otto Bock, C Leg have multiple sensors that gather and calculate data on various parameters such as the amount of vertical load, ankle movement, and knee joint movement in an attempt to mimic more natural leg function to provide stability and gait fluidity as needed on uneven terrains and or during sports activities[7].
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Currently, even most sophisticated microprocessor controlled ankle-foot prosthetic devices are passive
[8]

. They lack internal elements that actively generate power, which is required during the push-

off phase of normal able-bodied walking gait. Consequently, lower limb amputees expend 2030% more metabolic power to walk at the same speed as able-bodied individuals. Key challenges in the development of an active ankle-foot prosthetic device are the lack of high power and energy densities in current actuator technology [1]. Nowadays the lower limb prosthetic device has immense of technologies. In this regard there are discussions going on scientifically and technologically to accelerate the merging of body and machine, including the development of actuator technologies that behave like muscle and control methodologies that utilize principles of biological movement. Since the force-controllable actuator comprises of electric motors and mechanical transmission they are resulting in a heavy mechanism. As a resolution of this difficulty electro-active polymer-based artificial muscle technologies can be used in order to offer considerable advantages to the amputees [3], [4]. Even though in Sri Lankan context this kind of advanced technology does not use currently. Therefore, by having the support of those technologies, this research project will uplift the research environment in Sri Lanka.

RESEARCH GAP
There are limited research is going on developing robotic prosthetic lower limb using EMG signal control actuation lead with artificial intelligent system. Furthermore most of the prosthetic lower limb has not facilitated ankle joint actuation to the overall gait performance (support and forward progression). In Sri Lankan context, there are limited research and development done in biomechanical robotics field. As a result of civil war prevailed during last three decades, Sri Lanka having so many war casualties, most of them are lower limb amputees due to explosions of anti person land mines. Therefore, this design will be a good solution for such people.

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AIM AND OBJECTIVES

The aim of this study is to develop a robotic prosthetic limb for lower limb amputees to assist. Under the main objective followings are considered. Development of a robotic prosthetic for lower limb amputee. Evaluation of the effectiveness of the developed robotic prosthetic limb. Development of a hardware controller and algorithm for gait with different conditions such as standing, walking, up treading and down treading.

METHODOLOGY
Literature survey (Understanding the anatomy and the functions of human lower limb and review available literature). Design a robotic prosthetic to perform human foot motions using 3D CAD software. (Conceptual Design) Carry out a computer simulation of motion generation. Optimization and enhancement of the overall design based on simulation results. Design the electrical circuit of the hardware and actuators. Design a mechanism to interface with the human body. Fabrication and verification of hardware according to the design. Design control algorithm for the robot so that the prosthetic device generate natural human lower limb Motions. Evaluate the effectiveness of motion generation of the prosthetic.

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WORK PLAN

BUDGET
Item For controlling circuit For actuators For other materials required for constructing mechanical parts Estimated total budget Price (Rs.) 15,000 30, 000 15 000 60,000

STUDENT'S PERSONAL STATEMENT

This is the mutual group statement of our final year project group for the undertaken project of a robotic prosthetic for lower limb amputees. Group members: A.V.K.Sanjeevan J.C.W. Edirisooriya M.A.RAhamed Technical Manager Financial Manager Project Manager 080456A 080571V 080006V

We are honoured to work with each other as a group to make this project a success. We bound to give our possible maximum dedication to this project and make maximum out of this to fulfil the module objectives of making ourselves capable of engineering capacity.
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REFERENCES
[1] Ryan. B, Matthew. H, ThomassG.S, Kevin W.H Joseph K.H, "Design and Analysis of a Robotic Transtibial Prosthesis with Regenerative Kinetics," in ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, 2007, pp. 1587-1596. [2] "Lower limb prosthetic devices," Medical Policy Department Clinical Affairs Division, 2011. [3] Kornbluh. R Hugh. H, New horizons for orthotic and prosthetic technology:artificial muscle for ambulation. Menlo Park CA, usa: The MIT Media Laboratory. [4] Anja D, Gerlinde L, Olivier P, Bram V, Georges P, Louis P, Dirk L Rino V,.: Inderscience Enterprises Ltd, 2008, pp. 394-405. [5] Richard R. N, Steven A. K Felix E. Z, "Biomechanics and muscle coordination of human walking," Department of Mechanical Engineering, Biomechanical Engineering Division, Stanford University, Stanford, 2002. [6] Clark E, Offord E.A, Baxter C Taylor M.B, "A comparison of energy expenditure by a high level trans-femoral amputee using the Intelligent Prosthesis and conventionally damped prosthetic limbs," Bioengineering Department, Royal Hull Hospitals, Hull, 1996. [7] "Prosthetics Electrical and Powered/Microprocessor-Controlled Lower Limb Prostheses," Memorial Hermann HealthNet Providers, 2011. [8] Joseph K.H, A robotic transtibial prosthesis with regenerative kinetics. USA: Arizona State University, 2008.