Development of Actively Controlled Electro-Hydraulic Above-Knee Prostheses
In previous works, a four-bar linkage above-knee (AK) prosthesis with an electro-hydraulic controller was built. A mechanical model of an amputee who wears the actively controlled prosthesis was developed and simulations of the man-machine system were performed. To obtain a reliable design a test rig is built for evaluating the knee controller performance. In this work gait testing of an amputee is performed and the human test results indicate that the amputee swing phase gait can be improved by the active knee controller based on either PD or fuzzy controls.
KeywordsFuzzy Control Fuzzy Controller Walking Speed Passive Control Knee Angle
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