Skip to main content
Log in

Feasibility study on echo control of a prosthetic knee: sensors and wireless communication

  • Technical Paper
  • Published:
Microsystem Technologies Aims and scope Submit manuscript

Abstract

This paper outlines sensory system specifications and requirements to measure lower limb inclination angles, and addresses a novel method of human gait phase recognition necessary for cadence control. The implementation of a wireless system to transfer data between the active prosthetic knee and a healthy leg is discussed. A control mechanism is developed that takes advantage of an adaptive-network-based fuzzy inference system (FIS) to determine knee torque as a function of the echoing angular state of the able leg. The FIS membership function parameters and rules define the knowledge-base of the system. This knowledge is based on existing experience and known facts about the walking cycle. The RMS error of the testing data for the body-mass-normalized knee torque and the knee angle were calculated as 0.1269 (N m/kg) and 3.2784 (degree), respectively, i.e., 14.16% with respect to the required range of 0.896 (N m/kg), and 5.10% with respect to the travelling range of 73.01 (degree). The introduced post processing block plays a significant role in reducing the magnitude of the aforementioned errors.

This is a preview of subscription content, log in via an institution to check access.

Access this article

We’re sorry, something doesn't seem to be working properly.

Please try refreshing the page. If that doesn't work, please contact support so we can address the problem.

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9

Similar content being viewed by others

Abbreviations

APK:

Active prosthetic knee

FIS:

Fuzzy inference systems

TSK:

Takagi Sugeno Kang

ANFIS:

Adaptive-network-based fuzzy inference system

ADC:

Analog to digital converter

DAC:

Digital to analog converter

PID:

Proportional–integral–derivative

References

  • Aeyels B, Peeraer L, Vander Sloten P, Van der Perre G (1992) Development of an above-knee prosthesis equipped with a microcomputer controlled knee joint: first test results. J Biomed Eng 14:199–202

    Article  Google Scholar 

  • Jang JSR (1993) ANFIS: adaptive-network-based fuzzy inference systems. IEEE Trans Syst Man Cybern 23(3):665–685

    Article  MathSciNet  Google Scholar 

  • Popovic D, Oguztoreli MN, Stein RB (1995) Optimal control for an above-knee prosthesis with two degrees of freedom. J Biomech 28(1):89–98

    Article  Google Scholar 

  • Rose J, Gamble JG (1994) Human walking, 2nd edn. Williams & Wilkins, Baltimore

  • Sugeno M, Kang GT (1988) Structure identification of fuzzy model. Fuzzy Sets Syst 28:15–33

    Article  MATH  MathSciNet  Google Scholar 

  • Sup F, Bohara A, Goldfarb M (2008) Designed and control of a powered transfemoral prosthesis. Int J Robot Res 27(2):263–273

    Article  Google Scholar 

  • Tsai CS, Mansour JM (1986) Swing phase simulation and design of above knee prosthesis. J Biomech Eng 108:65–72

    Article  Google Scholar 

  • Wang TK, Ju MS, Tsuei YG (1992) Adaptive control of above knee electro-hydraulic prosthesis. J Biomech Eng 114:421–424

    Article  Google Scholar 

  • Winter DA (1990) Biomechanics and motor control of human movement. Wiley, New York, pp 213–216

    Google Scholar 

Download references

Acknowledgments

The authors would like to acknowledge the contributions of fourth-year undergraduate students, Alex Yakub, Daniel Charbonneau, Rob Espiritusanto, and Saad Mazahir

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Mir Behrad Khamesee.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Borjian, R., Khamesee, M.B. & Melek, W. Feasibility study on echo control of a prosthetic knee: sensors and wireless communication. Microsyst Technol 16, 257–265 (2010). https://doi.org/10.1007/s00542-009-0853-y

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s00542-009-0853-y

Keywords

Navigation