Study on development platform of active lower limb prosthesis based on MATLAB

The paper proposed a control and simulation method of the active lower limb prosthesis development platform based on MATLAB. MATLAB toolbox SimPowerSystems was used to simulate the electromechanical system of platform and verify the PID control algorithm. Target for TI C2000 toolbox genetated C language real-time implementation of Simulink model. The code was loaded into DSP chip through the connection between MATLAB and code composer studio software. Modularization approach simplified DSP code design process and improved program stability. Data exchange between DSP controller and Simulink model was carried out by RS232 serial port. Feedback data stream could make the whole working process visual and vivid. Simulation result show that the mechanic structure could track the knee joint angle when walking normally.