Modelling and investigation of bipedal human walking system

In this thesis, bipedal human walking is investigated and its characteristics is explained for modelling and calculating the mechanics of bipedal walking. Firstly phases of walking, then anatomical and mechanical meanings of walking are mentioned to explain principles of bipedal walking. With using Denavit-Hertenberg Homogeneous Transformation Matrices, the mechanics of a human leg and bipedal walking is calculated. This is important for modelling bipedal walking and important to walk amputees as an healthy person again. The types of amputation and solutions of them like prosthesis are mentioned in this thesis. Historical development of the prosthesis is explained also. To understand how these prosthesis works, parts of a prosthetic leg is examined. Classification of prosthetic knees and an example from these prosthetic knee types are explained and described how to control these type of knees. Controlling principles and electronic control program are mentioned in this thesis, and also an electronic control unit is designed.