The paper describes the design and control of a transfemoral prosthesis with powered knee and ankle joints. The initial prototype is a pneumatically actuated powered-tethered device, which is intended to serve as a laboratory test bed for a subsequent self-powered version. The prosthesis design is described, including its kinematic optimization and the design of a three-axis socket load cell that measures the forces and moments of interaction between the socket and prosthesis. A gait controller is proposed based on the use of passive impedance functions that coordinates the motion of the prosthesis with the user during level walking. The control approach is implemented on the prosthesis prototype and experimental results are shown that demonstrate the promise of the active prosthesis and control approach in restoring fully powered level walking to the user.
Spilanthes acmella L. (Asteraceae) is a me dicinally important plant commonly known as 'Akarkara'. S. acmella is a rich source of phytochemicals. In ayurvedic syste m of me dicine S.acmella is used for the treatment of scabie s, psoriasis, scurvey, toothache , infection of gums, paralysis of tongue and for stammering. Leaf of this plant contains valuable bioactive phytochemicals viz. alkamides (Spilanthol), isobutylamide de rivatives, saponins, amino acids, tannins, sesquiterpens and alkaloids. This plant has been well documented for its uses as anti-flammatory, analgestic, antipyretic, anesthetic and immuno-stimulent. S. acmellahas antimicrobial, fungicidal and insecticidal prope rties. In the present investigation exomorphic, anatomical, pharmacognostic, physico-chemical and chromatographic (fingerprinting) standards have been e volvedfor S. acmella. The parameters such as quantitative microscopy, fluorescence analysis, powde r analysis and fingerprinting served as quality standards. The physicochemical analysis of leaf podwer shown total ash, water soluble ash and acid insoluble ash values as 7.9%, 4.0% and 2.5%w/w respectively. While extractive values of leaf powde r with water, ethanol and petroleum ether yielde d 9.58%, 15.1% and 4.98%w/w respective ly. The fluorescence studies of leaf re vealed distinctive pattern. The characteristic TLC pattern of leaf extract using solvent systems, chloroform: me thanol (3:7) served as the fingerprint for S. acmella.
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