Control of Powered Knee Joint Prosthesis Based on Finite-State Machine
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.
KeywordsFinite-state machine Powered prosthesis Knee joint Movement database
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.
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