Knee Damping Control Of Active And Passive Prosthesis

The continuous improvement of science and technology brings us not only convenience,but also potential dangers.At present,the number of amputees due to traffic accidents and diseases in China is increasing year by year.As a prosthesis that can replace amputees and realize natural walking,its intelligence,reliability and convenience are the first prerequisites for wearers.But there is still a big gap between China and foreign countries in the level of prosthetic technology.Most excellent prosthetic products are from foreign developed countries,and the price is expensive.In order to improve the sport ability of the thigh amputation group,solve the amputee wearing prosthetic natural walking the pressing needs of the product realization and the contradiction between the target audience of the knee prosthesis products,promote the high-performance prosthetic knee joint civilian,into the gap with the advanced level of developed countries,vigorously develop the domestic the prosthetic knee joint research has important social meaning.This topic comes from the national key research and development program.Through data collection and analysis of healthy people,combined with relevant knowledge of hydraulic drive,and adding good control algorithm,the ultimate goal of this topic is to design a lower limb prosthesis knee joint with low energy consumption,low cost,simple control structure and strong environmental adaptability.The specific content is as follows:Firstly,the structural characteristics of the knee joint of healthy people were studied,and the Angle data of the knee joint,ankle joint and hip joint were collected.Secondly,based on the functions of the prosthetic knee joint,the principle design of the hydraulic system and the mechanical structure design of the prosthesis are completed.And the selection of the relevant hydraulic components.After that,the mathematical model of the related hydraulic components is established,and a good control strategy is established.Based on the traditional PID control,a particle swarm optimization algorithm is proposed in this paper.The results show that the particle swarm optimization algorithm is reliable and practical,and can better adjust the damping force of the lower limb prosthesis in the passive mode.Finally,the prosthetic parts are processed and assembled,and the damping force measurement experiment and the gait characteristics measurement experiment during the walking process are completed to verify the effectiveness of the control system and the feasibility of the mechanical structure.