Simulations of knee angle control in dynamical Gait model for above knee prosthesis

Abstract

Electronic above knee prosthesises need control methods and stratagies in order to conrol gait in an adaptive manner to user and enviroment. In this study, by using Proportional-Derivative (PD) and Computed Torque (CT) methods, knee control is analyzed. During gait, by modelling the movement of gait as two joint robot arm, dynamic equations of movement can be obtained. By applying artificial torques to dynamic equations, the results of simulation of gait without control is observed. Based on the problems observed, together with PD and CT methods, simulations are carried out for knee joint control. It is observed that the results of the simulations of controlled gait phases of gait dynamic model is close to the real data and follow the reference signal.