Adaptive Control of Above Knee Electro-Hydraulic Prosthesis

[+] Author and Article Information
T. K. Wang, M. S. Ju, Y. G. Tsuei

Department of Mechanical Engineering, National Cheng Kung University, Tainan, Taiwan 70101

J Biomech Eng 114(3), 421-424 (Aug 01, 1992) (4 pages) doi:10.1115/1.2891406 History: Received December 10, 1990; Revised January 04, 1992; Online March 17, 2008


Conventional designs of an above-knee prosthesis are based on mechanisms with mechanical properties (such as friction, spring and damping coefficients) that remain constant during changing cadence. These designs are unable to replace natural legs due to the lack of active knee joint control. Since the nonlinear and time-varying dynamic coupling between the thigh and the prosthetic limb is high during swing phase, an adaptive control is employed to control the knee joint motion. Two dimensional simulation indicates that the adaptive controller can improve the appearance of gait pattern. It is adaptable to walking speed and can compensate for the variations of hip moment, hip trajectory and toe-off conditions.

Copyright © 1992 by The American Society of Mechanical Engineers
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