Research On Knee-ankle Coordinated Motion Control Of Lower-limb Prosthesis

The research of new artificial intelligent lower limb prosthesis is an importantdevelopmental direction in the field of robotics, biomedical engineering andrehabilitation engineering. It refers to the sensor technology, computer technology,control of science, new chemical materials technology, mechanical design andmanufacturing technology. Compared with the traditional technique of lower limbprosthesis the former tends to be more like human health lower leg, which in detailsincludes a more natural smooth pace and at the same time it reduces the consumptionof energy for people with disabilities. Meanwhile the new artificial intelligent lowerlimb prosthesis perfectly independent behavior without people’s participation, becomepeople’s subconscious actions in other words. The research of this topic has veryimportant meaning in providing good performance, low-cost prosthetic products forthe body of persons with disabilities and promoting the development of medicalwelfare.According to the requirement of research on the “Control of intelligent lower limbprosthesis based on the knee-ankle joint coordination” sponsored by zhejiang naturalscience foundation, the paper mainly focus on the research about gait identificationand control methods of the movement of artificial lower limb prosthesis. The mainpoints of the dissertation are as follows:Firstly, establish the recognition system of artificial limb gait. Build theacquisition system of the artificial intelligent leg motive mechanics, which includesthe following aspects: EMG, acceleration signal, plantar pressure signal. Then filterthe signal with de-noising processing and extract the characteristic values, and usinggenetic algorithm(GA) BP neural network do gait recognition by these characteristicvalues.Secondly, build the mathematic model of artificial intelligent leg. According to thehuman body structure and movement mechanics analysis, make the mathematicalmodel of human lower limb movement. Establish the mathematical model of lowerlimb prosthesis using Lagrangian method from the perspective of system energy.Design adaptive iterative learning control system on lower limbs of the knee andankle, which is used to control the movement of knee and ankle joint trajectorytracking, and enable it to fit with the pace. Use MATLAB software to analyze the simulation control.