Prosthetic Knee Joint Control Method Research Based On The Echo Model

With the increasing number of lower limb amputees, the significance of the researchand development of intelligent prosthesis design and control method has been showing up. One hand, it need to combine micro-electronics technology, computer control technology,intelligent control technology, mechanical design, and biomedical engineering technologyand bionic technology together to develop intelligent prosthetic reached world advancedlevel. On the other hand, ordinary people difficult to accept the expensive foreignprosthetics. By increasing the research of intelligent prosthetic reduce the price ofprosthetics to help lower limb amputees to live like a normal person and restoreconfidence.Some developed countries and regions in the world in order to make up the limbamputees defect, has been developed and produced a wide variety of prosthetics. But thereis a big gap in China compared with the above-mentioned regions. This paper proceededfrom the design and control of the prosthetic knee joint on intelligent prosthetics research:(1) Gait acquisition experiments on healthy volunteers walking and analysis ofdifferent health tests gait information.(2) Proposes a gait phase determination only based on the contralateral lower limbknee angle and ankle angle. Creates an echo mathematical model of knee joint,and designs the echo control method of the prosthetic knee joint.(3) Design an active knee model prototype and Build a control system experimentalplatform. Simulation and experiment for the proposed gait phase determinationand echo control method.This paper designs an active prosthetic knee joint, reducing the energy consumptionduring walking; Proposes a gait phase determination only based on the contralateral lowerlimb knee angle and ankle angle, reducing the number and types of sensors and thecomplexity of computation; Creates an echo mathematical model of the knee joint, and quantitative analysis of the movement of the knee, the lower extremities during walkinggait symmetry, increasing the gait symmetry during walking; Finally, verify the work byecho control experiment, the experimental results illustrate the rationality and feasibility ofthe knee model prototype and echo control method.