Research Of Fuzzy PID Control For The Knee Prosthetic Test Platform

The main task of this paper is to develop the test platform for knee prosthetics, as human lower limb. Firstly, a motion model including pelvis, hip and knee is estabilished. Based on the model, an analysis of human walking gait is carried out, and a motion curve of the test platform which fits the motion of human legs is developed. Secondly, a series of improvement scheme for the testing platform mechanism are designed and part of the agency are reprocessed. The hardware and software which woring for the pelvis, hip, knee and foot are designed and debugged. Thirdly, the fuzzy PID control of the pelvis lifting mechanism and hip swing mechanism is experimented, fuzzy control-rules using for the test platform are established and summarized, in order to provide practical advices to others. The damping control system which can help knee joint achieve required damping force is debugged. In the end, the continuous walking experiments for the test platform are completed, experimental data are compared and analyzed in this paper. The integrated experiment content of test platform for continuous walking is realized.