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This paper presents the design, modeling, and simulation of an active ankle prosthesis system that integrates a BLDC motor, a hypocycloidal gearbox, and a spherical gear coupling. The proposed CAD-based solution is aimed at replicating natural ankle joint motion by ensuring accurate force transmission, multidirectional mobility, and mechanical flexibility. Simulation results obtained from SolidWorks Motion confirmed that the system can efficiently reproduce angular displacements similar to human gait, with precise adaptation in both sagittal and lateral planes. The spherical gear coupling demonstrated high angular compliance, reduced backlash, and improved dynamic stability. The findings suggest that the integrated system is well-suited for modern biomechanical rehabilitation and may contribute to the development of next-generation prosthetic technologies.

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Ankle Prosthesis Based on a BLDC Motor and Spherical Gear Coupling: Design and Operating Principles

  • 会议论文

  • 发表日期：

    2026年

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  • Akhmejanov Sayat,
  • Zhetenbayev Nursultan,
  • Sultan Aidos,
  • Sergazin Gani,
  • Ozhikenov Kassymbek

摘要

This paper presents the design, modeling, and simulation of an active ankle prosthesis system that integrates a BLDC motor, a hypocycloidal gearbox, and a spherical gear coupling. The proposed CAD-based solution is aimed at replicating natural ankle joint motion by ensuring accurate force transmission, multidirectional mobility, and mechanical flexibility. Simulation results obtained from SolidWorks Motion confirmed that the system can efficiently reproduce angular displacements similar to human gait, with precise adaptation in both sagittal and lateral planes. The spherical gear coupling demonstrated high angular compliance, reduced backlash, and improved dynamic stability. The findings suggest that the integrated system is well-suited for modern biomechanical rehabilitation and may contribute to the development of next-generation prosthetic technologies.