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Human ankle is a series of joints that are highly integrated [1], [2], where tolecular joint (permits dorsiflexion-planter flexion) and subtalar joint (permits inversion-eversion) play vital roles.A conceptual design of an ankle joint is presented here to facilitate the terrain adaptability maintaining natural gait patterns and stability for person with single limb transtibial amputation. The design consists of physiological ankle movements during walking on flat surface as well as uneven terrain. The ankle joint (spherical joint) permits planter flexiondorsiflexion by the control of passive actuators (springs) and active actuator (motor). It further allows movement in the frontal plane inward/outward about an imaginary centre line of body in order to adapt the roughness of surface. The kinematic behavior of the prosthesis is analyzed. Foot portion of the ankle prosthesis are conceptualize as composite structure to minimize ground contact shock. A 3D prototype is created to represent the conceptual design, which successfully demonstrated the ankles rotational motion.

The aim of this paper is to develop a wireless insole foot pressure acquisition device to measure and analyze foot planter pressure during various physical activities. Developed system consists of a pressure insole with four capacitive pressure sensors for each foot. Entire system is developed in house indigenously. Sensors are placed at four foot pressure points and interfaced with microcontroller and wireless acquisition board. Sensors are interfaced with dedicated electronics board made of Capacitance to Digital IC which converts change in capacitance due to foot pressure to an equivalent digital readout. Graphical User Interface is provided for different data curve plot, testing of pressure insole, quantifying force and pressure. A mobile and versatile pressure insole for analysis of foot pressure distribution and magnitude provides useful information to diagnose various foot disorders. Planter pressure measurement during standing, walking and other activity can demonstrate biomechanics of abnormal foot, can analyze diabetic offloading, sports medicine, pre and post treatment evaluation and yield measurement to track distance progression.

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With the continuous development of bionic machinery, dexterous hand development is also rising. And dexterous hands to complete a similar operation of the staff must be carried out planning. Firstly, the grasping of dexterous hand is classified. Then, four grasping analysis indexes of force closure, dexterity, static balance and stability are put forward according to classification. In the light of these indexes, the existing grasping planning method is analyzed on the basis of these indexes. Finally, the existing problems of the grasp planning method and the countermeasures are put forward.

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