In these paper series, the author has revealed complete modelling and algorithm with simulation success, which can be copied and implemented by readers in designing prototype.

Earlier this prototype was abandoned by the author due to finances and was submitted in 2018. https://www.element14.com/community/community/design-challenges/designforacause/blog/2018/07/18/design-journey-in-the-design-for-a-cause-artificial-stair-climbing-leg

From this kit, ADXL335, TMP36,HC-SRO4, LCD,MKR2UNO adapter, 32-bit ARM SAMD21 Cortex M0+ microprocessor are used. Other items are self- financed. The processor may get changed by AMD-Xilinx FPGA(subject to approval).

Script

ß Transtibial Prosthetic Artificial Leg MPC Controller https://doi.org/10.24433/CO.4724144.v1

Instructions:

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Caution

Though the uploaded data is true,designed for the real practical scenarios only, involving either human subjects or animals, these are neither been clinically tested nor have been practically tested on humans nor by any doctor or any medical or any review board. The author is not responsible if the algorithm is misunderstood or all this is copied without understanding or improperly implemented and mishappening due to it.The author is not responsible if the copied values cause mishappening.

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Read Me

(1) This neither contain any complete project folder nor any source code of project.

(2) Extra Libraries created, modified , other scripts , not shared, as very elementary for any graduate,degree holder but complete modelling and algorithm with simulation has been revealed.

(3) All work is simple , on basic and elementary concepts, can be easily copied, remade and understood.

(4) For other details like block/circuit diagram, set up, analysis, interpretation, parameters, mathematical formulae used to obtain these results etc. please refer "Research Paper".

(5) This is the last version and there won't be any other improvement or corrections or re-upload.

(6) Values of Kp, Ki, errors for controllers is given in Part-IV of Research paper.

(7) Calculations of dynamic forces is given in Part-I of Research paper.

(8) The dataset has been checked by the 'Data or Code or model Inspector' before uploading.

(9) .mat files can be converted to .csv or .xlsx or .xls, you can ask company engineer (they may even do) or you can even do yourself. Some softwares allow direct loading of .mat in their softwares.

(10) Some datasets are divided into with suffix 'X' and 'Y', for X-axis and Y-axis, which can be combined with elementary codes. If the same csv file is empty, then pls refer its mat file.

(11) If any problem in creating or copying, pls contact your university professor or board or any of the companies engineer.

(12) No other question or email will be replied.

(13) Make sure you have read Caution.

Dataset Files

Total Datasets = .

(1) Attached files are :

Accelerometer_Stairs_ASC.zip
Accelerometer_Stairs_DES.zip
Accelerometer_Stairs_obstacle.zip
Accelerometer_walking.zip
Accelerometer_walking_obstacle.zip
Ultrasonic_Stairs_ASC.zip
Ultrasonic_Stairs_DES.zip
Ultrasonic_walking_obstacles.zip
Ultrasonic_Stair_obstacle_ASC.zip
Ultrasonic_Stair_obstacle_DES.zip
Respiration.zip
Respiration_stairs.zip
Respirating_walking_prosthetic.zip
Respiration_stairs_prosthetic.zip
Path1.csv
Path2.csv
Path3.csv
Path1_Obstacle.csv
Path3_Obstacle.csv
Path1_AMPC.zip
Path2_AMPC.zip
Path3_AMPC.zip
Path1_UKF.zip
Path2_UKF.zip
Path3_UKF.zip
Path1_EKF.zip
Path2_EKF.zip
Path3_EKF.zip
Path1_PF.zip
Path2_PF.zip
Path3_PF.zip
PatellarReflexArcTest.zip
KneeJointMotor_mat.zip
KneeJointMotor_csv.zip
AnkleJointMotor_rotor_angle.mat
AnkleJointMotor_Vph.mat
AnkleJointMotor_Iph.mat
AnkleJointMotor_torque_electrical.mat
AnkleJointMotor_rotor_speed.mat
MetatarsophalanealJointMotor_Vph.mat
MetatarsophalanealJointMotor_torque_electrical.mat
MetatarsophalanealJointMotor_rotor_speed.mat
MetatarsophalanealJointMotor_rotor_angle.mat
MetatarsophalanealJointMotor_Iph.mat

(2) Five zip files are experimental data using sensors ADXL335 and HC-SRO4. The experimented collected zip files are -

(3)

(4) Accelerometer_Stairs_UP.zip is the accelerometer data collected.

(5) is the ultrasonic sensor without any obstacles (only stairs)

(6) is the accelerometer

(7 is the ultrasonic sensor with obstacles (detailes mentioned in Paper Part-IV)

(8) is the ultrasonic sensor with obstacles (only stairs).

(9) Path1, Path2,Path3 are the paths of Fig.1,Fig.2,Fig.3 described in the Research paper Part-IV. Path1 is walking prosthetic. Path2 is curved stair climbing, Path 3 is straight stairs in house with obstacles on stairs. All these three paths are result from simulation.

(10) Path 1 has 6 obstacles, Path 3 has 3 obtacles.

(11) Path1.csv, Path2.csv, Path3.csv has coordinates of followed path by leg.

(12) Path1_Obstacle.csv and Path3_Obstacle.csv are the coordinates of detected obstacles.

(13) Metatarsophalaneal Joints Motor has following 5 datasets

MetatarsophalanealJointMotor_Vph.mat
MetatarsophalanealJointMotor_torque_electrical.mat
MetatarsophalanealJointMotor_rotor_speed.mat
MetatarsophalanealJointMotor_rotor_angle.mat
MetatarsophalanealJointMotor_Iph.mat

(14)

(15) Ankle Joints Motor has following 5 datasets

AnkleJointMotor_rotor_angle.mat
AnkleJointMotor_Vph.mat
AnkleJointMotor_torque_electrical.mat
AnkleJointMotor_rotor_speed.mat
AnkleJointMotor_Iph.mat

(16) Knee Joints Motor has 4 zip datasets - KneeJointMotor_mat.zip, KneeJointMotor_csv.zip,KneeJointMotor_torque.csv.zip and KneeJointMotor_power.csv.zip. One has in .mat and other has in .csv. If the same csv file is empty, then pls refer its mat file.Both having same following datasets.

Torque
Power
Id
Iq
smo_BodePlot
smo_RootLocus
smo_PoleZeroMap
smo_NyquistPlot
smo_NicholsChart

(17) 4 datasets - Torque, Power, Id, Iq in Knee Joints Motor- KneeJointMotor_mat.zip, KneeJointMotor_csv.zip, KneeJointMotor_torque.csv.zip and KneeJointMotor_power.csv.zip are speed characteristics. If the same csv file is empty, then pls refer its mat file.

(18) 5 datasets - smo_BodePlot, smo_RootLocus, smo_PoleZeroMap, smo_NyquistPlot, smo_NicholsChart in Knee Joints Motor- KneeJointMotor_mat.zip and KneeJointMotor_csv.zip are control characteristics for field oriented control with sliding mode observer. If the same csv file is empty, then pls refer its mat file.

(19) PatellarReflexArcTest is the Patellar Reflex Arc Test on the knee joint PNS

smo_UnitStepX
smo_UnitStepY
smo_ImpulseX
smo_ImpulseY

(20)

Path1_AMPC.zip, Path2_AMPC.zip, Path3_AMPC.zip are determined by adaptive model predictive control. Each of these zip has following datasets.

slope
intercept
detection
trajectory
sim_distance

How use Dataset Files

The data can be studied and used in various ways.

(1) The values given in the dataset or in the Research paper can be used by doctors, manufacturers, R&D engineers etc.

(2) The dataset and Research paper can be used to design more variants.

(3) The dataset and Research paper can be used for study using less engineering knowledge or with open-source softwares.

(4) There are many data analysis softwares - proprietary and open source softwares.

(5) The dataset can be loaded into proprietary softwares or trial versions of Finite element or other simulation softwares to regenerate same model or other model or to conduct other study.

(6) One particular study or some experiments can be copied for degree thesis, project or phd thesis.

Paper Citing : If want to cite this in paper etc. ,please refer DoI and/or this url.

Funding: There are no full-funders for this submission. I expect all these papers, would be nice Shroud for the passion and the price paid.

Acknowledgement : The concerened names have been acknowledged in the Research paper and data. Other items are self- financed.

I will shortly re-upload data. Making some changes in the the research paper/algorithm. Abhishek

Abhishek Bansal Thu, 09/08/2022 - 00:03 Permalink

This dataset page is solely related to Arduino2018, 32-bit ARM SAMD21 Cortex M0+ microprocessor and simulation. If the portion of this design is designed by AMD-Xilinx FPGA, it would be separate dataset page. Abhishek

Abhishek Bansal Thu, 09/08/2022 - 23:10 Permalink

I will re-upload data. Due to computer crash and other obstacles, it is taking time. Abhishek

Abhishek Bansal Sat, 09/17/2022 - 13:18 Permalink

This dataset would be completed in Dec.2022 or Jan/Feb. 2023. Abhishek

Abhishek Bansal Mon, 11/21/2022 - 19:46 Permalink

Hello I will not submit as such any other dataset. I m not completing research paper, the earlier version of part-3 and part-4, which was able to get saved from computer crash is uploaded. I will not complete paper as left R&D. Abhishek Bansal

Abhishek Bansal Sun, 12/18/2022 - 18:37 Permalink

Data from ß Transtibial Prosthetic Artificial Leg MPC Controller https://doi.org/10.24433/CO.4724144.v1 output_result_fakempcleg. txt has calculations. Abhishek Bansal

Abhishek Bansal Tue, 03/07/2023 - 21:14 Permalink

Hello Few Related claims submitted. Other may be merged in https://dx.doi.org/10.21227/b58y-nb96 and which may be submitted in few months or in 20-30 years or never. Abhishek Bansal Delhi,India

Abhishek Bansal Mon, 03/20/2023 - 12:20 Permalink

Hello Patents not yet filed and won't be filed. Abhishek Bansal Delhi,India

Abhishek Bansal Mon, 03/20/2023 - 12:20 Permalink

I have got email to publish this dataset openly or email them. It is already published as an open-access (free download) here : Bansal, Abhishek (2022), “Data:9-DOF Transtibial Artificial Leg”, Mendeley Data, V1, doi: https://doi.org/10.17632/dh9sy5z62f.1

Abhishek Bansal Thu, 08/17/2023 - 06:28 Permalink

Acknowledgement : The author as such is thankful to none but obliged to his family for bearing his personal endeavours! The papers are submitted under individual and solo category, not representing anyone else. If invited or given any award, he is representing only himself, as an individual and not anyone else, not India as it is criminal by Indian laws. The author cannot, for the humiliation, harassment, and now all wrap up.

Abhishek Bansal Tue, 10/03/2023 - 17:33 Permalink

Someone had raised concern "... prohibited to work ...without qualification..." In my personal case, I am only representing only myself not anyone else, not country. As far as this is taken, it is not criminal. I am always attaching legal acknowledgement and disclosure, (which some graduates find ...)

Abhishek Bansal Fri, 10/13/2023 - 17:36 Permalink

Abhishek Bansal Fri, 10/13/2023 - 17:37 Permalink

Abhishek Bansal Fri, 10/13/2023 - 17:39 Permalink

I have stated above but some still taking for granted and if I DO NOT control, they &critics knowcan put me in non-bail jail. You not reading legal disclousure statement, and its clear from both sides as your .. x cannot pay 1/4 of the fresher with 20yr exp., and it is evident the shameless, torture behaviour and coverup with lies even in court, IT IS permanently damaged for coming 1000 years+. In legal disclosure, I have clearly stated it is criminal by indian laws as was even questioned by registrar in 2015, how did electrical from electronics. You shouldnot expect anything more than my paid service.

Abhishek Bansal Wed, 02/14/2024 - 17:45 Permalink