Modeling and Control of Knee-Ankle-Toe Active Transfemoral Prosthesis

The main joints of lower limb are hip, knee, ankle, and toe. Because of accidents or diseases, some people have to amputate. Wearing prosthesis can help them return to normal life. In the past, Active Knee joint and Active Knee-Ankle transfemoral prosthesis are studied. While in the stance phase, to...

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Bibliographic Details
Published in:IEEE access Vol. 8; pp. 133451 - 133462
Main Authors: Chen, Yawei, Xuan, Bokai, Geng, Yanli, Ding, Sanbo, Chen, Lingling
Format: Journal Article
Language:English
Published: Piscataway IEEE 2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Active control
Ankle
Biomechanics
Control methods
Dynamic models
Euler-Lagrange equation
Foot
Gait
Group theory
Joints (anatomy)
Kinematics
Knee
Knee-Ankle-Toe active transfemoral prosthesis
Legged locomotion
Lie groups
Mathematical model
mathematical model of prosthesis
Prostheses
Prosthetics
Subsystems
Switches
Switching
switching control
Walking
ISSN:2169-3536, 2169-3536
Online Access:Get full text
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Summary:The main joints of lower limb are hip, knee, ankle, and toe. Because of accidents or diseases, some people have to amputate. Wearing prosthesis can help them return to normal life. In the past, Active Knee joint and Active Knee-Ankle transfemoral prosthesis are studied. While in the stance phase, toe joint play an important role. In this article, the dynamic model and control method of Knee-Ankle-Toe Active Transfemoral Prosthesis are studied. The main contents are as follows: Firstly, according to the ground reaction force, the gait cycle is divided into three phases, Early and Middle Stance Phase (E&MSP), Late Stance Phase (LSP) and Swing Phase (SP), and the mechanical model of Knee-Ankle-Toe Active Transfemoral Prosthesis (KATATP) is established. Secondly, consider the cooperative movement of amputee and prosthesis, the kinematics model of prosthesis is established by Lie Groups and Lie Algebras, and the dynamic model of prosthesis is established by Lagrange equation. Thirdly, the whole gait cycle is a complete system and each phase is a different subsystem, switching rules and controllers of different subsystems are designed. Finally, experiments show that KATAP with the switching control enables amputee to have a biomechanically appropriate walking gait and achieve smooth transition between different gait phases.
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ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2020.3010636