Control architecture to reproducethe knee and ankle movement using a transfemoral prosthesis

摘要

The development of dynamical prosthesis can be considered as an effort of the bioengineering to substitute the functions of the member affected by an amputation. The performance of these devices is strictly related with its control system. In this way, this work aims proposinga control architecture for transfemoral prosthesis, based on the complementary limb motion estimation, considering the hypothesis about the symmetry of the human gait and the characteristic potentially predictive of itself. Thus, it is developed an analysis about the rotation of the articulation and its relation with the prosthesis. From of this, it is developed two level of control, that aims to determinate the movement and regulate the behavior of the actuator. This development provides a different perspective about solutions related to the control parameters of this kind of devices. Through of this work, it concludes about the existence of a relation between the behavior of the articulations during a normal gait cycle, and its applicability to solve the prosthesis problem control.