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Review
. 2021 Dec 17;20(1):126.
doi: 10.1186/s12938-021-00962-9.

Design of bionic active-passive hybrid-driven prosthesis based on gait analysis and simulation of compound control method

Xinsheng Xu  1 , Xiaoli Xu  1 , Ying Liu  1 , Kai Zhong  1 , Haowei Zhang  2
Affiliations
Review

Design of bionic active-passive hybrid-driven prosthesis based on gait analysis and simulation of compound control method

Xinsheng Xu et al. Biomed Eng Online. .

Abstract

Purpose: The purpose of this paper is to design a prosthetic limb that is close to the motion characteristics of the normal human ankle joint.

Methods: In this study, combined with gait experiments, based on a dynamic ankle joint prosthesis, an active-passive hybrid-driven prosthesis was designed. On this basis, a real-time control algorithm based on the feedforward compensation angle outer loop is proposed. To test the effectiveness of the control method, a multi-body dynamic model and a controller model of the prosthesis were established, and a co-simulation study was carried out.

Results: A real-time control algorithm based on the feedforward compensation angle outer loop can effectively realize the gait angle curve measured in the gait test, and the error is less than the threshold. The co-simulation result and the test result have a high close rate, which reflects the real-time nature of the control algorithm. The use of parallel springs can improve the energy efficiency of the prosthetic system.

Conclusions: Based on the motion characteristics of human ankle joint prostheses, this research has completed an effective and feasible design of active and passive ankle joint prostheses. The use of control algorithms improves the controllability of the active and passive ankle joint prostheses.

Keywords: Active and passive hybrid drive; Co-simulation; Compound P/PI feedback control; Two degrees of freedom ankle joint.

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Conflict of interest statement

The authors declare that they have no competing interests.

Figures

Fig. 1
Fig. 1
Control block diagram of powered lower limb prosthesis
Fig. 2
Fig. 2
Mechanical structure of ankle joint prosthesis
Fig. 3
Fig. 3
The simulation results of Simulink, the upper figure is the angle simulation curve, and the lower figure is the deviation curve
Fig. 4
Fig. 4
Compound control structure principle
Fig. 5
Fig. 5
Compound P/PI control system for active and passive ankle prosthesis
Fig. 6
Fig. 6
Comparison of the results of angle simulation
Fig. 7
Fig. 7
Ankle joint characteristic curve obtained by co-simulation in NX
Fig. 8
Fig. 8
Principle of motion capture system
Fig. 9
Fig. 9
Layout of laboratory facilities
Fig. 10
Fig. 10
Markers' fixed position
Fig. 11
Fig. 11
Characteristic curve of ankle joint
Fig. 12
Fig. 12
Ankle joint Angle—Torque ideal line chart
Fig. 13
Fig. 13
R40 appearance and dimensions
Fig. 14
Fig. 14
The structure of the ball screw
Fig. 15
Fig. 15
Structure diagram of series spring driver
Fig. 16
Fig. 16
Ankle joint prosthesis structure diagram
Fig. 17
Fig. 17
Angle control system transfer function block diagram
See this image and copyright information in PMC

References

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