Kinematic Modeling of the Ankle-Foot Articulation by Gear Mechanism

Abstract

The mathematical modeling of mobility at the human ankle joint level is essential for prosthetics and orthotic design. In the present paper, the kinematic modeling of the ankle-foot joint is approached, intending to determine the motion functions of the structures that model the ankle by gear mechanisms. The proposed mechanical models are composed of two bodies that materialize the foot and leg pair, and they can successfully replace the traditional universal and spherical joints (which are frequently used in the field).