| Intelligent prosthesis is a hotspot and front subject in the field of rehabilitation. In foreigncountries, the research of intelligent prosthesis with knee-ankle coordination is only in thebeginning stages. While in china, there is no related research at present. The intelligentprosthesis developed by our research group will collect gait and pace information with the helpof multi-sensor. What is more, it will automatically adjust according to Finite State Machine(FSM). The gait of disabled person can be greatly improved. This improvement owes to thecoordination between artificial limb and health limb. Our research has great significance foramputation patients back to society. The research works in this paper mainly focus on thefollowing aspects.Firstly, the paper is based on the researches of inside and outside. We have researchedachievements in the field of knee joint prosthesis, ankle joint prosthesis and knee&anklecoordinated prosthesis. After this, the motion characteristic of knee joint and ankle joint wasanalyzed. Then, control strategy of FSM was confirmed, which is a theoretical basis for ourspecialized prosthesis.Secondly, an intelligent controller with complete functions and small shape was designed.The controller can realize our control policy. Air cylinder was considered when we designed thecontroller. In addition to these, simple but efficient software was programmed. All of these workmakes the intelligent prosthesis follow the health limb perfectly and it offer a good platform forfollowers.Finally, we debugged the prosthesis by clinical test. After assessing its properties, wedeveloped national patent performance metrics. The end part of the paper gives an overview andputs forward the issues to do in the future. |
