Research On Movement Realization And Gait Information Acquisition Of Powered Ankle Prosthesis

With social development and technology improvement, the disabled persons have an increasing demand for overcoming physical defects and improving living quality. Especially for those suffers from lower limb, the traditional ankle prosthesis brings troubles on walking uncomfortably and gait unpleasantly. In order to solve these problems on those traditional ankle prosthesis, this dissertation focuses on powered ankle prosthesis with "real" intelligent function. The new prosthesis can help the sufferers of lower limb and make them walk like normal person. Furthermore, the application of the prosthesis will do great help to the disabled persons come back to social lives, study and work like normal persons. Meanwhile, it is significant in promoting the development of the healing medical technology in our country.At present, some national and abroad organizations have already done a lot of research on lower prosthesis, and manufactured some well-performed products. However, the investigation shows that those achievements concentrate more on recovery of knee joint functions than ankle joint. To realize the movement and obtain gait information, this dissertation concentrates on simple gait circulation and intelligent control through design and control of the drive unit based on the designed ankle framework. By collecting, transmitting and displaying the gait information on the PC during prosthesis movements, we compare the information with that of normal human body moving data. In this way, the accuracy of the prosthesis is evaluated and improved.This dissertation mainly focuses on the following aspects:1. The moving characteristics of human ankle joint is described and the reasons of traditional ankle prosthesis gait differences is analyzed, on these basis, the project on the movement realization of powered ankle prosthesis is conceived.2. The hardware and software of the prosthesis moving units is designed. Firstly the simple gait circulation of the prosthesis is realized in the design of control software. On this basis, the way of intelligent control for iterative learning control is proposed.3. A project to obtain prosthesis gait information of PC is conceived. The project includes three steps: collecting gait data from the defined transducer, transmitting to PC through USB2.0 interface and finally displaying on the PC. The emphases lay on USB hardware design and the USB communication protocol with microprocessor.All those research has realized simply gait circulation of the powered ankle prosthesis, confirmed the feasibility of application of iterative learning control on prosthesis control system. At the same time, the software and hardware design of data collection system on microprocessor has been accomplished. All those work has laid good basis to further research on this object.