| With the development of microelectronics technology, prosthetic knee changes frombeing passive, purely mechanical to smart gradually. Dynamic type prosthetic knee becomea major hotspot of the research of intelligent prostheses. Power type prostheses is differentfrom the past half-passive prostheses, the damping adjustment of the structure of the kneejoint of which only through the control system, reducing the burden on the prosthesiswearer at a fixed pace. Power type prosthetics designed in this paper, totally dependent onthe motor assembly to provide power, using a finite state machine control methods tocoordinate the movement to achieve the goal to coordinate with the healthy limb.The main contents are as follows:1〠Through of the QuaRc platform to gather the information,theacceleration,gyroscopes, pressure sensors,generated during body’s exercise。 throughthe analysisof the collected information and the knee data collected from VICON MX gaitsystem, ultimately, getting the displacement and the direction of the signal knee movement,and thus turning the displacement and direction signals of knee movement to the motionsign of the power type of prosthetic knee, and the establishing the power-type prostheticknee motion control database.2〠prosthetic knee required not only to provide the required power for the wearer towalk,and to achieve the healthy limb lateral motion coordiation. The human body biped gaitare repeatability and periodicity. Finite State Machine (FSM) is used in the control methodsof Active Knee Prosthesis.3〠Using Simulink finite state machine module stateflow to conduct five typicaltraffic controller modeling, and then doing simulating test, to get the motor control signalsof different road conditions. The resulting control signal connects to the motor, to do initialpower-type prosthetic knee control experiments. |
