|
|
|
| Study on Intelligent Control of Human Body Prosthetic Leg Based on Fuzzy-CMAC |
1 Institute of Biomechanics and Rehabilitation Engineering, University of Shanghai for Science and Technology, Shanghai, China
2 Robotic Institute, Shanghai Jiaotong University; Shanghai 200240, China |
|
|
|
Abstract To meet the need of parameter personalization and walking speed variance of patients, leg prostheses have parameter systems with complex features including nonlinearity and parameter uncertainty, however conventional mathematic models can not meet the demand for the actual control because the IPL knee torque is indirectly caused by the nonlinear damping at the knee joint. Hence intelligent prosthetic leg (IPL) system is required. In this work a dynamic model of selfmade hydraulic IPL with the nonlinear damper control parameters and hip torque was established, and an inverse dynamic compound controller of PD-FCMAC for tracking the knee swing was designed. A case simulation showed that an arbitrary trajectory could be tracked in less than 5 s, which proved that the designed controller had high real-time performance with good precision.
|
|
|
|
|
|
|
|
|
