Passive Controller Design for Swing Phase of a Single Axis Above-Knee Prosthesis

Authors

  • M.H. Honarvar Mahjoubin
  • S. Najarian
Abstract:

In this research we design a passive controller for an above knee prosthesis. The controller is a linear spring and damper for swing phase motion, parameters of which determined via optimization of adjustment of the prosthesis shank motion with a desired shank angle trajectory comes from experimental data. In this way, we exerted a certain thigh motion, hip movement included, into the system as its input and found a set of unknown parameters such that the model output gets as close as possible to a certain output which is shank motion in normal level walking. Also a robustness analysis of the controller with respect to input motion changes included to show the effectiveness in real application.

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Journal title

volume 1  issue 3

pages  76- 87

publication date 2009-06

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