Research On Bio-inspired Control Methodology And Experiment For Active Ak Prothesis

With the rapid advances in medical technology, amputees demand for comfort ofprosthesis is also increasing. Atctive prosthesis can provide power for amputees, especiallyon the upstair and uphill that save energy for amputees. So this paper presents abio-inspiration control method that based on CPG for active above-knee prosthetic. Themain content of the paper could be presented as follows:1. Learn the movement of the lower limbs and the knowledge of human gait, and bydetecting the angle trajectories of human hip and knee to deeply understand the periodicity,rhythm, variety and difference of gait.2. Analysis the control mechanism of rhythm movement of human body, and proposegait control method based on central pattern generator. Using the improved hopf oscillatorto model CPG of knee joint, offline learning knee joint angle trajectory of5terrains atnormal walking speed. In order to reproduce knee angle, we define remodel equation,which based on3set of obtained parameter values that from offline learning to remodelknee angle trajectory at5terrains. It is convenient for online control.3. Matlab is used to simulation, and results show that the same trend with changes inhuman knee joint angle trajectories. Based on terrains and speed, CPG can achieveconversion and diversity of gait in real time.4. Build a prosthetic experimental platform and use LabVIEW to validate thesimulation results. The experiment results validated that gait speed transition and walkingof5terrains based on CPG method are feasible.In many cases, amputees can’t adjust prosthesis in accordance with their own feelings.This paper not only realize amputees adjust speed freely, but also the change of terrains, sothat meet the needs of amputees daily life.