The Design And Implementation Of Lower Limb Prosthesis Knee Joint Controller Based On DSP

With the development of technology, the intelligent prosthesis is replacing the traditional prosthesis gradually. Its main feature is that it can tune the parameters automatically according to the circumstance. But it can not change according to the frequency of step and angle of the knee. This study proposed a new type active intelligent prosthesis whose main driver unit is DC Servo system. It can lift the user when standing from a seated position, give active heel rise and knee flexion. It can also tune the parameters of prosthesis system automatically according to human's consciousness and circumstance, and work agilely and stably. This study is the basic research in order to realize this goal.Active lower-limb prosthesis knee joint is driven by a DC Servo motor with gearhead. The DC motor rotate speed directly changes the knee joint flexion speed.Passive knee joint swing to rely on flexible realization of pneumatics cylinder. The motor can only control the open degree of a needle in cylinder. It can change the knee joint rotate speed by the way of changing the knee joint bend and extend damping.The disadvantage of passive knee joint determined by its structure is that it can not raise the user's body and swing the crus actively. Limit appears when passive prosthesis tries to trace natural efficient gait of the healthy limb. Active prosthesis gives a chance to solve the mentioned problems.The main content and innovations are shown as follows:1. DC servo motor drive thigh prosthesis, not the opening degree of pneumatics cylinder.2. Design and carry out the hardware structure and software program of knee joint controller.