Matlab Simulation of Robust Control for Active Above-Knee Prosthetic Device

Abstract

The locomotion of people with amputation is slower, less stable and requires more metabolic energy than the locomotion of physically fit individuals. Individuals with amputation of the lower extremities fall more often than able individuals and often have difficulty moving on uneven terrain and stairs. These challenges can mostly be attributed to the use of passive mechanical prosthetic legs that do not react actively to perturbations. Latest submitted solutions for active prosthetic devices of the lower extremities can significantly improve mobility and quality of life for millions of people with lower limb amputation, but challenges in control mechanisms of such devices are currently limiting their clinical viability.