Finite-state control of a trans-femoral (TF) prosthesis

Author

Zlatnik, Daniel ; Steiner, Beatrice ; Schweitzer, Gerhard

Author_Institution

David Inst., Haifa, Israel

Volume

10

Issue

3

fYear

2002

fDate

5/1/2002 12:00:00 AM

Firstpage

408

Lastpage

420

Abstract

A nonanalytic (soft) finite-state control was developed for a controlled trans-femoral (TF) prosthesis. The control and actions are performed according to a rule-base written in a natural language. A systematic procedure of developing a knowledge base prosthesis controller and an effective way for estimating the gait speed are presented. The prosthesis prototype with sensing, microcomputer based electronics, and a servo controlled knee damper were integrated and successfully tested in the clinic. The stability to support the body weight, absorption of ground impact, and smooth forward progression reported by the amputee. An improved body support on a bent knee during mid-stance and instant response to a change in walking speed were recorded

Keywords

artificial limbs; cooperative systems; finite state machines; handicapped aids; intelligent control; knowledge based systems; mechatronics; servomechanisms; stability; artificial limbs; biomedical engineering; cooperative systems; gait speed; handicapped aids; knowledge-based systems; legged locomotion; mechatronics; orthopedics; prosthetics; sequential machines; soft control; stability; trans femoral prosthesis; Control systems; Electronic equipment testing; Ground support; Knee; Microcomputers; Natural languages; Prosthetics; Prototypes; Servomechanisms; Stability;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/87.998030

Filename

998030