The Development And Application Of The Control System Of Intelligent Prosthetic Ankle

As people’s living standards improving and biomedical engineering developing,research for intelligent ankle prosthesis mainly focuses on the dynamic ankle prosthesis.Dynamic parts which are controlled by the information gathered from the body providepower to dynamic limb prosthesis. Dynamic limb prosthesis can simulate the movement oflower limbs which have personal function and character. Dynamic ankle prosthesis canimprove walking gait of disabled persons. The main contents and innovations are shown asfollows.First of all, we analyzed the characteristics of the human body movement system andgait information, particularly studing the ankle joint from the perspective of kinematics anddynamics. We also use vicon MX system to collect the walking information on ankle jointangle trajectory of5terrains at normal walking.Secondly, according to the feature of the human ankle, we are able to design the modelof dynamic ankle prosthesis and control system. Based on the analysis of the artificial limbankle joint, the strategy of CPG about the moving trail of dynamic ankle prosthesis isintroduced. The tool of Matlab is used to simulate the strategy. The simulation results showthat the strategy of CPG learning control in this paper is effective and can track thereference trail rapidly and fit the moving trail of a person’s normal limb, which lay thetheoretical foundation for study of the control method.Thirdly, on the basis of effective control strategies and the functional requirements ofthe artificial limb, we have established the control system of dynamic ankle prosthesis. Theframework of control system includes a control unit, a drive unit, multi-sensor parts.According to the control principle and hardware structure, the research group prepared asystem control program to achieve to identify and control the speed and angle of theprosthesis, which lay foundation for subsequent developers.Finally, we summarize and analyze the work and the lack of this project.Thedevelopment of subsequent active prosthetic ankle intelligent control system for the futurework is prospected.