Control System Development for One-Side Hip-Knee Joint of Reciprocating Gait Orthosis

2013 ◽  
pp. 246-254
Author(s):  
Mohd Aizat Ahmad Tarmizi ◽  
Rizauddin Ramli ◽  
Mohd Faizol Abdullah ◽  
Phun Li Teng ◽  
Sallehuddin Mohamed Haris
Keyword(s):  
Control System ◽  
Knee Joint ◽  
System Development

PROTOTYPE OF TRANSFEMORAL PROSTHESIS WITH AN ACTIVE ARTIFICIAL KNEE

2020 ◽  
Vol 4 (1) ◽  
pp. 172-180
Author(s):  
A.M. POLIAKOV ◽  
P.K. SOPIN ◽  
V.B. LAZAREV ◽  
A.I. RYZHKOV ◽  
M.A. KOLESOVA ◽  
...  
Keyword(s):  
Mathematical Modeling ◽  
Control System ◽  
Knee Joint ◽  
Hierarchical Control ◽  
Control Level ◽  
Quality Criteria ◽  
Optimal Conditions ◽  
Invariant Moments ◽  
Biological Similarity ◽  
Transfemoral Prosthesis

This article presents a transfemoral prosthesis prototype with active control of an artificial knee joint. One of the main criteria used in the design of the prosthesis was to achieve the maximum biological similarity of this device in order to provide optimal conditions conducive to user natural walking. The artificial knee joint, designed on the basis of a polycentric higed mechanism with intersecting links, provides such conditions at the design level, and a three-level hierarchical control system, built on the basis of an intelligent-synergetic concept, at the control level. To recognize user's intentions, the intelligent subsystem uses algorithms for comparing graphic images of user's walking phases by the method of estimating the invariant moments of Hu. After that, prosthesis elements movements are planned in the synergistic subsystem in accordance with the synergistic quality criteria. The algorithms used in the control system are adjusted depending on what type of artificial foot is used in the prosthesis: active, semi-active or passive (purely mechanical). Mathematical modeling of the prosthesis operation shows that the nature of its functioning corresponds to the quality criteria adopted in the design.

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