design an artificial foot using series elastic actuator

: investigating the mechanical behaviour of a healthy human ankle shows that it can be simulated by a mechanism composed of simple elements such as spring, and actuator. hence, appropriate design of this mechanism can be resulted to an artificial ankle that can help amputees properly. researches show that whatever the biomechanical behaviour of artificial ankle is similar to that of natural ankle, it can be used by consuming less energy. considering biomechanical behaviour of normal ankle in a walking gait, required parameters for designing of an artificial ankle composed of springs and electromechanical actuator will be determined. finally, to verify the suggested model, a prototype will be materialized and tested.