Forward dynamics simulation of a human leg model with a geometrically exact beam model as prosthetic foot.

In this work, we present a model for human leg with prosthetic foot, consisting of rigid bodies the thigh and shank geometrically exact beam prosthesis. The prosthesis is modelled after Össur Vari-Flex® carbon spring foot. individual are connected by joints imposing constraints, mimicking motions joints. A structure preserving variational integrator used to calculate forward dynamic simulation analyse energy exchange between potential, kinetic deformation energy. Due integrator, there no artificial loss introduced numerical integration over time [3].