Abstract
In order to make the powered knee joint prosthesis to provide the required power for walking, a driving motor control approach based on finite-state machine is proposed. According to the periodicity and repeatability of the human body movement characteristic, the gait phase is divided into four states by foot pressure signals. With the reference of healthy limb gait information, a movement database for powered prosthesis is established for different terrain and speed conditions. The finite-state machine is used to control powered prosthesis, and a stateflow module structure is build in the controller, making prosthesis limb to move to coordinate with the healthy limb. Finally, the experiment using the prosthesis prototype verified the feasibility of this method.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Geng YL, Xu XY, Chen LL, Yang P (2011) Design and analysis of active transfemoral prosthesis. J Hebei Univ Techonl 40(5):32–35 (in Chinese)
Martinez-Villalpando EC, Weber J, Elliott G, Herr H (2008) Design of an agonist-antagonist active knee prosthesis. In: Proceedings of the 2nd Biennial IEEE/RAS-EMBS international conference on biomedical robotics and biomechatronics, Scottsdale, AZ, USA, 19–22 Oct 2008, pp 529–534
Flowers WC, Mann RW (1977) Electrohydraulic knee-torque controller for a prosthesis simulator. SAME J Biomech Eng 99(4):3–8
Popovic D, Stein RB (1991) Optimal control for the active above-knee prosthesis. Ann Biomed Eng 19(2):131–150
Akin OK, Yucenur MS (2006) Design and control of an active artificial knee. Mech Mach Theory 41(12):1477–1485
Sup F, Bohara A, Goldfarb M (2007) Design and control of a powered knee and ankle prosthesis. In: IEEE international conference on robotics and automation, Roma, Italy, 10–14 April 2007, pp 4134–4139
Kahle JT, Highsmith MJ, Hubbard SL (2008) Comparison of nonmicroprocessor knee mechanism versus C-leg on prosthesis evaluation questionnaire, stumbles, falls, walking tests, stair descent, and knee preference. J Rehabil Res Dev 45(1):1–14
Sup F, Varol HA, Goldfarb M (2011) Upslope walking with a powered knee and ankle prosthesis: initial results with an amputee subject. IEEE Trans Neural Syst Rehabil Eng 19(1):71–78
Huang H, Zhang F, Hargrove LJ, Dou Z, Rogers DR, Englehart KB (2011) Continuous locomotion-mode identification for prosthetic legs based on neuromuscular-mechanical fusion. IEEE Trans Biomed Eng 58(10):2867–2875
Hernandez R, Yang Q, Huang H, Zhang F, Zhang XR (2013) Design and implementation of a low power mobile CPU based embedded system for artificial leg control. In: 35th annual international conference of the IEEE EMBS, Osaka, Japan, 3–7 July 2013, pp 5769–5772
Jin DW, Yang JK, Zhang RH, Wang RC, Zhang JC (2006) Terrain identification for prosthetic knees based on electromyographic signal features. Tsinghua Sci Technol 11(1):74–79 (in Chinese)
Tan GZ, Cai GC, Zeng QD, Yan BL, He SH (2006) Study and design of handhold controller system of CIP-I intelligent bionic artificial leg. Comput Meas Control 14(1):47–50 (in Chinese)
Yang P, Liu ZJ, Geng YL, Zhao LN (2013) Research advance on key technology of intelligent lower limb prosthesis. J Hebei Uni Techonl 42(1):76–80 (in Chinese)
Lawson B, Varol HA, Huff A, Erdemir E, Goldfarb M (2013) Control of stair ascent and descent with a powered transfemoral prosthesis. IEEE Trans Neural Syst Rehabil Eng 21(3):466–473
Young AJ, Simon AM, Hargrove LJ (2014) A training method for locomotion mode prediction using powered lower limb prostheses. IEEE Trans Neural Syst Rehabil Eng 22(3):671–676
Gou B, Liu ZJ, Zhao LN, Yang P (2013) Walking mode pre-judgment of lower limb prosthesis based on correlation analysis. J Southeast Univ 43(s1):192–196 (in Chinese)
Zhao LN, Liu ZJ, Gou B, Yang P (2014) Gait recognition pre-judgment of dynamic lower limb prosthesis based on Hidden Markov model. Robot 36(3):337–341 (in Chinese)
Sun HX, Wei X, Lin T (2012) Research of model transformation approaches based on Finite State Machine. Comput Technol Dev 22(2):10–17 (in Chinese)
Acknowledgments
This paper was supported by the National Natural Science Foundation of China (61174009 and 61203323). The authors would like to thank Bin Gou and Lina Zhao for assisting with experiment and Fengqing Zhao for assisting with data collection.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Chen, G., Liu, Z., Chen, L., Yang, P. (2015). Control of Powered Knee Joint Prosthesis Based on Finite-State Machine. In: Deng, Z., Li, H. (eds) Proceedings of the 2015 Chinese Intelligent Automation Conference. Lecture Notes in Electrical Engineering, vol 337. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-46463-2_40
Download citation
DOI: https://doi.org/10.1007/978-3-662-46463-2_40
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-662-46462-5
Online ISBN: 978-3-662-46463-2
eBook Packages: EngineeringEngineering (R0)