Robotic Ankle  Masters Thesis

NOTE: Currently in literature review phase
This project has been shifted from a EMG-driven ankle prosthetic project to an underactuated ankle-toe because of recent papers that have been released in the space covering the research question I was aiming to initially explore

The new research direction is a potential design for a morphing semi active linkage system that allows for control of the toe seperate to the ankle while using the ankle's QDD actuator as the main power source. The goal is to have independent control over toe pushoff, power and speed without having to add another actuator. This could be benificial for humanoid robots looking to get the advantage of controlled powered toes and heelstriking without adding significant bulk/weight.