Walking with prosthesis has not been fully analyzed and it does not seem that the design of powered prosthesis has been done scientifically so far. This paper presents dynamic simulation of a nomal human walking and walking with prosthesis. We also studied the controlling method of a powered thigh prosthesis. We compared the tracking control to a nomal walking and the self-excited control which can excite the natural motion of the swing leg. As a result, we found that the self-excited control can decrease the hip joint torque and specific cost to 1/3 compared with the tracking control and that the minimum value of specific cost can be decreased to 0.05.
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