Passive Controller Design for Swing Phase of a Single Axis Above-Knee Prosthesis
In this research we design a passive controller for an above knee prosthesis. The controller is a linear spring and damper for swing phase motion, parameters of which determined via optimization of adjustment of the prosthesis shank motion with a desired shank angle trajectory comes from experimenta...
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| Main Authors: | , , |
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| Format: | Book |
| Published: |
Afarand Scholarly Publishing Institute,
2009-06-01T00:00:00Z.
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| Online Access: | Connect to this object online. |
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| Summary: | In this research we design a passive controller for an above knee prosthesis. The controller is a linear spring and damper for swing phase motion, parameters of which determined via optimization of adjustment of the prosthesis shank motion with a desired shank angle trajectory comes from experimental data. In this way, we exerted a certain thigh motion, hip movement included, into the system as its input and found a set of unknown parameters such that the model output gets as close as possible to a certain output which is shank motion in normal level walking. Also a robustness analysis of the controller with respect to input motion changes included to show the effectiveness in real application. |
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| Item Description: | 2008-2622 2008-2630 |