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Output space tracking control for above-knee prosthesis
1Faculty of Electrical Engineering, University of Belgrade, Yugoslavia.
IEEE Transactions on Bio-Medical Engineering
|June 1, 1993
Summary
Researchers developed a Lyapunov tracking method for controlling artificial knee joints in above-knee prostheses. This real-time control method proved effective in simulations for artificial leg locomotion, showing suitability for prosthesis design.
Area of Science:
- Biomedical Engineering
- Robotics
- Biomechanics
Background:
- Developing advanced control systems for active above-knee prostheses is crucial for restoring natural locomotion.
- Existing prosthetic knee control methods often face challenges in achieving real-time adaptability and precise motion tracking.
Purpose of the Study:
- To design and validate a Lyapunov tracking control method for an active above-knee prosthesis knee joint.
- To assess the efficacy of output space tracking control for real-time artificial leg locomotion.
Main Methods:
- A simulation of locomotion was performed using data from able-bodied subjects walking on a powered treadmill.
- Subjects wore ankle splints and knee cages to constrain natural movement during data collection.
- The study analyzed the achieved knee motion tracking, thigh movement deviations, angular deviations, and power consumption.
Main Results:
- The Lyapunov tracking method demonstrated successful control of the artificial knee joint in simulations.
- The control system showed suitability for real-time applications in artificial legs.
- Performance was evaluated as a function of limited maximal knee torque and damping constant.
Conclusions:
- The output tracking method is a viable approach for designing effective hardware for above-knee prostheses.
- This method is suitable for implementing real-time control in artificial leg systems.
- The findings support the advancement of prosthetic limb technology for improved user mobility.