INVESTIGATION AND ANALYSIS OF BIPEDAL HUMAN WALKING TO CONTROL THE MOTION OF KNEE PROSTHESES

摘要

In this paper a general motion analysis of normal human bipedal-walking under various circumstances is carried out and the optimal control of knee joint for an upper knee amputee is investigated. Real measurements of both hip and knee angles of healthy human are obtained on a walking platform. After exposing the motions of hip and knee angles, a theoretical analysis of both measured stochastic signals are made using auto and cross correlation functions. These results are then used to improve a computer based control of the knee prosthesis motion of an amputee without knee joint with respect to the motion of hip (Baser, 2003). Various measurements are made to investigate the real parameter variations. In this way, it is aimed to reach an optimum theoretical model of the human gait dynamics to manufacture upper knee amputee prosthesis according to this model.