Un método de control adaptativo a la velocidad basado en la predicción de parámetros de marcha personalizados para...

To address the limitations of current prosthetic knees that lack personalized adaptability to users' gait characteristics and walking speeds, this study proposes a personalized gait parameter prediction-based speed-adaptive control method for a hybrid active-passive intelligent prosthetic knee (HAPK). The proposed system integrates a perceptron-based model to predict individualized gait parameters by mapping anthropometric data and walking speed to key points of the knee trajectory. A fuzzy logic-based damping control for the swing phase and a position-torque control for the stance extension phase are developed to achieve real-time adaptation to different walking speeds and user-specific biomechanics. The hybrid actuation system combines hydraulic damping and motor torque assistance to ensure both compliance and power delivery across gait phases. Experimental results from variable-speed walking tests demonstrate that the proposed control method improves gait symmetry indices-reducing stance and swing asymmetries by approximately 30-38%-and achieves smoother, more natural gait transitions compared to traditional fixed-gait control strategies. These findings validate the effectiveness of the proposed approach in achieving continuous, personalized, and speed-consistent gait control for intelligent prosthetic knees.