System synthesis of a testbench for testing modules and control systems of lower-limb prostheses

摘要

Rehabilitation of disabled persons who have lost their lower limbs due to various reasons and the ensuring to them the opportunity an active lifestyle is an important social task. It can be solved by the widespread introduction in the rehabilitation practice a low-cost intelligent prostheses, the functionality of which depends not only on the design type, but also, not least, from the realized control system. As a rule, in modern control systems real-time is used the information about the state of the environment, intentions and current amputee status, as some human-machine system. In this regard, the synthesis of artificial limbs and their control systems it is advisable to carry out from the viewpoint of systems theory. The functionality of control systems and the main modules of prostheses that can theoretically perform their functions requires experimental verification. In this work presented a testbench by means of which can solve a wide range of experimental tasks. The testbench primarily intended for testing of artificial feet and represent a mechatronic device based on Stewart platform with electromechanical drives. One of links of testing module is mounted on the upper fixed platform (rigidly or hingedly), and the second link is supported or fixed on the movable platform. The mobile platform can perform many controlled movements, thus simulating the operation of tested prosthesis module or its control system.