Design and control of active lower limb prosthesis with sensorial frame

IF 1.4 4区计算机科学 Q4 AUTOMATION & CONTROL SYSTEMS

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2023-11-07 DOI:10.1177/09596518231204054

Ivan Hernandez, Wen Yu

引用次数: 0

Abstract

In this article, we have designed an active prosthesis for the lower limb of a human. The unique design incorporates an exoskeletal extension that serves as a low-cost sensory framework, providing feedback on residual signals, namely the states of the hip and thigh. The controller takes advantage of system modeling and employs a simple proportional–derivative control. A stability analysis has been conducted. We have also provided simulations and analysis of the active prosthesis to evaluate the effectiveness of the design and control.

查看原文本刊更多论文

带传感框架的主动下肢假体的设计与控制

在这篇文章中，我们设计了一个主动假肢的人的下肢。独特的设计结合了一个外骨骼扩展，作为一个低成本的感官框架，提供对残余信号的反馈，即臀部和大腿的状态。该控制器利用系统建模的优势，采用简单的比例导数控制。进行了稳定性分析。我们还提供了主动假体的仿真和分析，以评估设计和控制的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 工程技术-自动化与控制系统

CiteScore

3.50

自引率

18.80%

发文量

审稿时长

4.2 months

期刊介绍： Systems and control studies provide a unifying framework for a wide range of engineering disciplines and industrial applications. The Journal of Systems and Control Engineering refleSystems and control studies provide a unifying framework for a wide range of engineering disciplines and industrial applications. The Journal of Systems and Control Engineering reflects this diversity by giving prominence to experimental application and industrial studies. "It is clear from the feedback we receive that the Journal is now recognised as one of the leaders in its field. We are particularly interested in highlighting experimental applications and industrial studies, but also new theoretical developments which are likely to provide the foundation for future applications. In 2009, we launched a new Series of "Forward Look" papers written by leading researchers and practitioners. These short articles are intended to be provocative and help to set the agenda for future developments. We continue to strive for fast decision times and minimum delays in the production processes." Professor Cliff Burrows - University of Bath, UK This journal is a member of the Committee on Publication Ethics (COPE).cts this diversity by giving prominence to experimental application and industrial studies.