Control of Ankle Angles During Gait Cycle for Lower Limb Prosthesis

Abstract

Mimicking ankle angles continuously and accurately during gait cycle for lower limb prosthesis is of prime importance in prosthesis control. A robust control system is thus desired to mimic natural gait cycle of a healthy human for an amputee. This research focuses on simulating a control system which mimics natural ankle angles of human ankle biomechanics. The controller mimics a reference ankle angle input as output with maximum accuracy for lower limb prosthesis developed earlier. This control system can be further advanced to mimic human ankle torque and power profiles as well.