Creation of a controller to simulate biped locomotion control with ELSA Prosthesis Digital Twin
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- The escalating prevalence of amputations, driven by factors such as diabetes related complications and traumatic incidents necessitates urgent innovative solutions. The rise in global diabetes cases, projected to reach 570.9 million by 2025, contributes to a concerning increase in lower-extremity amputations. The 2016 GBD, Injuries and Risk Factors Study reported 131 million individuals with diabetes-related lower-extremity issues, including 6.8 million amputations and 0.4 million requiring prosthetic interventions. Prosthetic technology has evolved significantly, transitioning from rudimentary designs to advanced bionic creations. In the last decade, below-knee prostheses have shifted from static structures to dynamic systems mirroring human anklefoot movement. Two distinct visions have emerged: the first one articulated energy storing and returning (ESR) feet. And bionic feet using hydraulic or electric actuation for natural motion. The concept of the digital twin, a computational replica of a physical device, holds promise in prosthetic technology advancement. The Efficient Lockable Spring Ankle (ELSA) prosthesis, developed at UCLouvain, embodies this innovation. To replicate natural gait, the SIMBICON controller, rooted in biomechanics and dynamic optimization, is employed and adapted to ELSA’s context for accurate simulated gait. This thesis delves into creating an environment to emulate human gait, detailing research methodology, technical implementations and findings. By developing a digitized environment to simulate human gait, this study contributes to ELSA’s advancement. The digital twin concept bridges theoretical innovation and real-world implementation, revolutionizing prosthetic device development and optimization. As medical technology advances, digital twins promise innovative solutions, redefining design, testing and refinement approaches.