Powered Ankle Joint Prosthesis Design And Control Research

Funded by the National Natural Science Foundation of China (51275170), this topic carry out the subject of power ankle prosthesis research work.Powered ankle joint prosthesis is an important research direction in the field of rehabilitation robotics. This category of prosthesis provide extra power, it has characteristics similar to the human gait ankle, can smooth out the natural pace, more realistic to achieve normal human walking entire process so that the wearer can be better to adapt to the external environment, this has very important significance.This paper do an analysis about human gait when working on the level of the ground, research walking impedance variation. Based on the principle of the series elastic actuator, design and optimize Powered ankle prosthesis using Solidworks and Workbench. And build Mathematical model, then complete solid and flexible coupling dynamics simulation analysis with Adams. According to the state machine gait analysis and control theory, study ankle prosthesis control based on the establishment of a joint simulation control platform with Matlab/Simulink. BP neural network control method for ankle prosthesis were studied and discussed.Simulation and Control of ankle prosthesis model improve motion characteristics, to obtain the desired impedance control curve so that it has good bionic features, and also provide the technical basis for the subsequent ankle prosthesis research.