Controller Design and Implementation for a Powered Prosthetic Knee |
Posted on:2013-12-17 | Degree:Ph.D | Type:Dissertation |
University:University of California, Berkeley | Candidate:Rosa, Matthew David | Full Text:PDF |
GTID:1454390008488427 | Subject:Engineering |
Abstract/Summary: | |
Powered prosthetic knees offer many improvements over passive devices; however, the added actuation is difficult to control due to the lack of input from the user. A means of controlling a powered prosthetic knee is proposed by predicting the type of swing behavior the knee must perform based on the position of the foot relative to the person during toe-off. The software to accomplish this is implemented via a finite state machine which activates specific knee angle reference generators for each state. The reference generators serve as the input of a nonlinear feedback controller to ensure accurate positioning of the knee joint. |
Keywords/Search Tags: | Powered prosthetic knee, Reference generators |
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