Hardware-in-the-Loop Test of a Prosthetic Foot
For a targeted development process of foot prostheses, a profound understanding of the dynamic interaction between humans and prostheses is necessary. In engineering, an often employed method to investigate the dynamics of mechanical systems is Hardware-in-the-Loop (HiL). This study conducted a fund...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-10-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/20/9492 |
| _version_ | 1797515444994703360 |
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| author | Christina Insam Lisa-Marie Ballat Felix Lorenz Daniel Jean Rixen |
| author_facet | Christina Insam Lisa-Marie Ballat Felix Lorenz Daniel Jean Rixen |
| author_sort | Christina Insam |
| collection | DOAJ |
| description | For a targeted development process of foot prostheses, a profound understanding of the dynamic interaction between humans and prostheses is necessary. In engineering, an often employed method to investigate the dynamics of mechanical systems is Hardware-in-the-Loop (HiL). This study conducted a fundamental investigation of whether HiL could be an applicable method to study the dynamics of an amputee wearing a prosthesis. For this purpose, a suitable HiL setup is presented and the first-ever HiL test of a prosthetic foot performed. In this setup, the prosthetic foot was tested on the test bench and coupled in real-time to a cosimulation of the amputee. The amputee was modeled based on the Virtual Pivot Point (VPP) model, and one stride was performed. The Center of Mass (CoM) trajectory, the Ground Reaction Forces (GRFs), and the hip torque were qualitatively analyzed. The results revealed that the basic gait characteristics of the VPP model can be replicated in the HiL test. Still, there were several limitations in the presented HiL setup, such as the limited actuator performance. The results implied that HiL may be a suitable method for testing foot prostheses. Future work will therefore investigate whether changes in the gait pattern can be observed by using different foot prostheses in the HiL test. |
| first_indexed | 2024-03-10T06:45:34Z |
| format | Article |
| id | doaj.art-a173959b1200456692cefd1fa3bd24e1 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T06:45:34Z |
| publishDate | 2021-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-a173959b1200456692cefd1fa3bd24e12023-11-22T17:19:30ZengMDPI AGApplied Sciences2076-34172021-10-011120949210.3390/app11209492Hardware-in-the-Loop Test of a Prosthetic FootChristina Insam0Lisa-Marie Ballat1Felix Lorenz2Daniel Jean Rixen3Chair of Applied Mechanics, Department of Mechanical Engineering, School of Engineering & Design, Technical University of Munich, 85748 Garching bei München, GermanyChair of Applied Mechanics, Department of Mechanical Engineering, School of Engineering & Design, Technical University of Munich, 85748 Garching bei München, GermanyChair of Applied Mechanics, Department of Mechanical Engineering, School of Engineering & Design, Technical University of Munich, 85748 Garching bei München, GermanyChair of Applied Mechanics, Department of Mechanical Engineering, School of Engineering & Design, Technical University of Munich, 85748 Garching bei München, GermanyFor a targeted development process of foot prostheses, a profound understanding of the dynamic interaction between humans and prostheses is necessary. In engineering, an often employed method to investigate the dynamics of mechanical systems is Hardware-in-the-Loop (HiL). This study conducted a fundamental investigation of whether HiL could be an applicable method to study the dynamics of an amputee wearing a prosthesis. For this purpose, a suitable HiL setup is presented and the first-ever HiL test of a prosthetic foot performed. In this setup, the prosthetic foot was tested on the test bench and coupled in real-time to a cosimulation of the amputee. The amputee was modeled based on the Virtual Pivot Point (VPP) model, and one stride was performed. The Center of Mass (CoM) trajectory, the Ground Reaction Forces (GRFs), and the hip torque were qualitatively analyzed. The results revealed that the basic gait characteristics of the VPP model can be replicated in the HiL test. Still, there were several limitations in the presented HiL setup, such as the limited actuator performance. The results implied that HiL may be a suitable method for testing foot prostheses. Future work will therefore investigate whether changes in the gait pattern can be observed by using different foot prostheses in the HiL test.https://www.mdpi.com/2076-3417/11/20/9492hardware-in-the-loopprosthetic feetprostheses testingvirtual pivot point modelreal-time hybrid substructuringreal-time hybrid simulation |
| spellingShingle | Christina Insam Lisa-Marie Ballat Felix Lorenz Daniel Jean Rixen Hardware-in-the-Loop Test of a Prosthetic Foot Applied Sciences hardware-in-the-loop prosthetic feet prostheses testing virtual pivot point model real-time hybrid substructuring real-time hybrid simulation |
| title | Hardware-in-the-Loop Test of a Prosthetic Foot |
| title_full | Hardware-in-the-Loop Test of a Prosthetic Foot |
| title_fullStr | Hardware-in-the-Loop Test of a Prosthetic Foot |
| title_full_unstemmed | Hardware-in-the-Loop Test of a Prosthetic Foot |
| title_short | Hardware-in-the-Loop Test of a Prosthetic Foot |
| title_sort | hardware in the loop test of a prosthetic foot |
| topic | hardware-in-the-loop prosthetic feet prostheses testing virtual pivot point model real-time hybrid substructuring real-time hybrid simulation |
| url | https://www.mdpi.com/2076-3417/11/20/9492 |
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