Optimal control for an above-knee prosthesis with two degrees of freedom

Our previous research and clinical tests of a self-contained powered above-knee prosthesis (AKP) showed that a knee joint with one degree of freedom (DOF) increases the energy cost of walking with respect to able-bodied subjects. Better symmetry of the gait can improve performance, so we suggest here the integration of a second powered DOF into the knee joint mechanism to control the internal-external rotation of the shank-foot complex. The control for the AKP with two DOFs is based on a method of optimal tracking. The data used for analysis were collected in able-bodied subjects braced with an ankle splint to experimentally duplicate a gait like that of amputees using a two-DOF prosthesis. The simulation showed the following: (1) the technique of optimal programming can be used for simulation of the artificial leg during locomotion; (2) the optimal tracking method is an efficient tool for selection of actuators for the above-knee prosthesis, ensuring that the tracking remains within limits. Limitation of joint torque is desirable in order to reduce the size of the motor, but beyond a certain point limiting maximal torques lead to tracking errors that are associated with higher energy costs and hence the need for a larger power source. The errors are also associated with higher forces at the interface between the socket and the prosthesis. The optimal tracking method allows the optimization of tracking with constraints on the size of the motor used and its energy cost.