Romansy 16 pp 329-336 | Cite as

Prosthesis Design by Robotic Approaches Part 2: Optimization Approach

  • Marko Ackermann
  • Werner Schiehlen
Part of the CISM Courses and Lectures book series (CISM, volume 487)


Robotic approaches are proposed for the design of devices or therapies to improve gait quality of persons presenting gait disorders. The inverse dynamics robotic approach for skeletal models as discussed by Schiehlen and Ackermann (2005) will be extended and applied to musculoskeletal system of disabled. An optimization approach is proposed and discussed that permits the computation of muscle forces, activations and neural excitations by minimizing a more accurate estimation of the metabolical cost. In part 1 of this paper, see Schiehlen and Ackermann (2006), the modeling of muscles and the evaluation of the corresponding metabolical cost is reported in detail. Finally, an example of the lower limb is used to illustrate the procedure of combining an optimal skeletal design with a minimum of metabolical cost.


Muscle Force Ground Reaction Force Dynamic Optimization Metabolical Cost Contractile Element 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© CISM, Udine 2006

Authors and Affiliations

  • Marko Ackermann
    • 1
  • Werner Schiehlen
    • 1
  1. 1.Institute of Engineering and Computational MechanicsUniversity of StuttgartGermany

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