Walking cycle control for an active ankle prosthesis with one degree of freedom monitored from a personal computer

This paper proposes a fuzzy control algorithm for human walking cycle of an active ankle prosthesis for people who have suffered amputation of the lower limb, the system has one degree of freedom in the sagittal plane. Also, a biomechanical analysis of foot and ankle is shown to define the phases of...

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Bibliographic Details
Main Authors: Cordero Andres, Guzhnay, Arevalo Luis, Calle, Abad Julio, Zambrano
Format: Conference Proceeding
Language:English
Subjects:
Algorithm design and analysis
Legged locomotion
Microcontrollers
Prosthetics
Sensors
Servomotors
Torque
Online Access:Request full text
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Summary:This paper proposes a fuzzy control algorithm for human walking cycle of an active ankle prosthesis for people who have suffered amputation of the lower limb, the system has one degree of freedom in the sagittal plane. Also, a biomechanical analysis of foot and ankle is shown to define the phases of plantar support and swinging. The used actuator is an intelligent servomotor, Dynamixel MX-106T which has torque, current and position feedback, among others, allowing real-time telemetry of the prototype implemented in a microcontroller system.
ISSN:1094-687X
1558-4615
2694-0604
DOI:10.1109/EMBC.2015.7319184