ANALYSIS OF GAIT MOTION EQUATIONS AND APPLICATION OF PROPORTIONAL DERIVATIVE CONTROL FOR ELECTRONIC ABOVE KNEE PROSTHESIS


AKDOGAN K. E. , YILMAZ A.

JOURNAL OF THE FACULTY OF ENGINEERING AND ARCHITECTURE OF GAZI UNIVERSITY, vol.31, no.1, pp.201-209, 2016 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 31 Issue: 1
  • Publication Date: 2016
  • Title of Journal : JOURNAL OF THE FACULTY OF ENGINEERING AND ARCHITECTURE OF GAZI UNIVERSITY
  • Page Numbers: pp.201-209

Abstract

In this study, a simulation based development environment (SBDE) is designed to develop control methods required for electronic above knee prosthesis (EAP). For this purpose existing gait motion equations are derived on the basis of robot arm and their accuracy are tested by performing forward solution with real gait data reported in the literature. Forward solution simulations show that analyzed gait motion equations can describe swing phase but in stance phase, ground reaction force is not involved in calculations. Inverse solution of gait motion equations has been implemented numerically to determine joint angles caused by corresponding joint torques. In order to make an application in SBDE using inverse solution, proportional derivative (PD) control has been selected as an example control method and analyzed. A transfer function is formed by linearizing the nonlinear relationship between torque and angle as input and output of knee system. A controlled knee joint system is set up by employing this transfer function and PD controller. Proportional and derivative gains of PD controller is determined by using root locus method. Substituting real knee angles as target values, it is observed that knee angles produced by system can follow the target values. Designed SBDE facilitates analysis of control algorithms required for EAP.