Christian Estanislao Barrientos Quispe

3-UPU-1-S Parallel Mechanism for Biomechanical Emulation of Human Ankle Motion in a Transtibial Prosthesis: Mechanical Design, Kinematic Evaluation, and Control Implementation

The human ankle exhibits complex multiplanar behavior involving plantarflexion, dorsiflexion, inversion, eversion, and coupled orientation changes that are essential for balance and terrain adaptation. This work presents the design, kinematic evaluation, mechanical implementation, and control validation of a transtibia...