Design of bionic active–passive hybrid-driven prosthesis based on gait analysis and simulation of compound control method

BioMedical Engineering OnLine

Xinsheng Xu¹  Xiaoli Xu¹  Ying Liu¹  Kai Zhong¹  Haowei Zhang¹ 

[1] School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, 516 JunGong Road, 200093, Shanghai, People’s Republic of China;

关键词: Active and passive hybrid drive;    Two degrees of freedom ankle joint;    Co-simulation;    Compound P/PI feedback control;   

DOI  :  10.1186/s12938-021-00962-9

来源: Springer

【 摘 要 】

PurposeThe purpose of this paper is to design a prosthetic limb that is close to the motion characteristics of the normal human ankle joint.MethodsIn this study, combined with gait experiments, based on a dynamic ankle joint prosthesis, an active–passive hybrid-driven prosthesis was designed. On this basis, a real-time control algorithm based on the feedforward compensation angle outer loop is proposed. To test the effectiveness of the control method, a multi-body dynamic model and a controller model of the prosthesis were established, and a co-simulation study was carried out.ResultsA real-time control algorithm based on the feedforward compensation angle outer loop can effectively realize the gait angle curve measured in the gait test, and the error is less than the threshold. The co-simulation result and the test result have a high close rate, which reflects the real-time nature of the control algorithm. The use of parallel springs can improve the energy efficiency of the prosthetic system.ConclusionsBased on the motion characteristics of human ankle joint prostheses, this research has completed an effective and feasible design of active and passive ankle joint prostheses. The use of control algorithms improves the controllability of the active and passive ankle joint prostheses.

【 授权许可】

CC BY