Intelligent Prosthetic Knee Ankle Coordinated Control And Application

Installing prosthesis is the best way to compensate for amputees motor function.Nowthe most of intelligent prosthesises entering the market only consider the function of kneejoint.It is rare to see the prosthesis which could do coordinated movement with knee jointand ankle joint. So some problems always exist,such as uncoordinated gait, easy damageand large energy consumption of amputees.Consequently, developing intelligent knee andankle coordinated prosthesis with independent intellectual property rights is an extremelyurgent task in the rehabilitation area in our country. This thesis is devoted to developing anintelligent prosthesis control system which can make knee and ankle do coordinatedmovement, the main work is as follows:Firstly, the normal gait characteristic is analysed carefully, and the gait information ofthe pedestrian are collected through multiple sensors.Analyse the change of the knee jointangle signal when the amputees wearing an intelligent knee and ankle coordinatedprosthesis walk normally.Finally,the gait recognition of coordinated movement of the kneeand ankle prosthesis can be achieved only by the hall sensor installed on the prosthetic knee,which lay a theoretical foundation for study of the control method.Secondly, the thesis introduces the structure of the prosthetic knee and ankle jointsand analyses the working principle of the cylinder; Finite-state machine control method isused to classify the gait of coordinated movement of the prosthetic knee ankle joints anddevelop control strategy for each of the gait.The expert database for the needle valveopening of the prosthetic knee and ankle joint is finally established under the differentspeed.Thirdly, knee and ankle coordinated prosthesis controller is designed to meet therequirement of prosthesis.The system control program is written and the gait recognitioncan be achieved through the real-time hall sensor signal acquisition. Different damping isproduced in different gait and the goal of the pace to follow is achieved, which makesmore harmonious and natural gait.Fouthly,the PC debugging system and hand-held remote debugging system aredesigned in order to realize the real-time adjustment of the parameters of the controller, which provides a convenient platform for subsequent developers; Debug method of kneeand ankle coordinated prosthesis are summarized, and the fact that intelligent knee anklecoordinated prosthesis can simulate the basic normal gait has been verified by clinical trialsand the coordinated movements of the prosthetic knee and ankle has been achieved.At last, the main work of this thesis is summarized. The innovative points of researchis put forward and the problems in the design are analyzed.The intelligent prosthesiscontrol system for the future work is prospected.