Control of a Mechanical Knee Based on Predictive Control Techniques

Transfemoral amputee patients need appliances that help them in locomotion in order to have a better quality of life. Prosthetics have been developed with the implementation of some existing technologies. However, despite the advances already achieved, mass, energy consumption and torque are some of the problems still faced. This work presents a new methodology for the controlling of a magneto-rheological knee by the use of predictive control. Simulations with the aim of showing the tracking of the torque curve of a healthy knee during the gait cycle were performed. It was verified that the objective was achieved using the proposed technique. From the results, it is possible to conclude that it is advantageous to use this type of technology and that its adoption in the development of real prostheses is feasible.