This article outlines the controller design for a specific active transtibial prosthesis. The controller governs the power output of a DC motor attached to a four-bar mechanism and torsional spring. Active power reinforcement is used to assist the push off at later stages of the stance phase and achieve ground clearance during the swing phase. A two level control algorithm which includes a higher level finite state controller and lower level proportional-integral-derivative (PID) controllers is applied. To implement this control algorithm, a digital signal processor (DSP) control board was used to realize the higher level control and an off-the-shelf motor controller was used to realize the lower level PID control. Sensors were selected to provide the desired feedback. A dynamic simulation was performed to obtain the proper PID parameters which were then utilized in a bench test to verify the approach.
Powered Transtibial Prosthetic Device Control System Design, Implementation, and Bench Testing
Manuscript received January 7, 2013; final manuscript received October 2, 2013; published online December 6, 2013. Assoc. Editor: Venketesh N. Dubey.
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Sun, J., and Voglewede, P. A. (December 6, 2013). "Powered Transtibial Prosthetic Device Control System Design, Implementation, and Bench Testing." ASME. J. Med. Devices. March 2014; 8(1): 011004. https://doi.org/10.1115/1.4025851
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