Simulating gait with the 3R60 knee prosthesis and a control moment gyroscope

Developing a new knee prosthesis requires thorough testing. Forward dynamics simulation can be valuable in the development process. It can reduce the need for intermediate prototypes and tests. Currently, there are 3D simulations of healthy walking and kinematic models of common prosthesis like the 3R60. However, they have not yet been combined....

Torque control design for minimalistic gyroscopic balance assistance

A minimalistic robotic device for aiding persons with degraded balancing ability was recently proposed, employing a number of single-gimbal control moment gyroscopes (CMGs) mounted to a backpack-like orthopedic corset. Once a fall is detected, the device must track a predefined moment profile to bring the subject upright or else slow the fall...