Research Papers

Powered Transtibial Prosthetic Device Control System Design, Implementation, and Bench Testing

[+] Author and Article Information
Jinming Sun

e-mail: jinming.sun@marquette.edu

Philip A. Voglewede

e-mail: philip.voglewede@marquette.edu

Department of Mechanical Engineering,
Marquette University,
Milwaukee, WI 53233

The human gait data from Winter [17] is selected to be the benchmark of the reference ankle moment profile.

1Corresponding author.

Manuscript received January 7, 2013; final manuscript received October 2, 2013; published online December 6, 2013. Assoc. Editor: Venketesh N. Dubey.

J. Med. Devices 8(1), 011004 (Dec 06, 2013) (8 pages) Paper No: MED-13-1001; doi: 10.1115/1.4025851 History: Received January 07, 2013; Revised October 02, 2013

This article outlines the controller design for a specific active transtibial prosthesis. The controller governs the power output of a DC motor attached to a four-bar mechanism and torsional spring. Active power reinforcement is used to assist the push off at later stages of the stance phase and achieve ground clearance during the swing phase. A two level control algorithm which includes a higher level finite state controller and lower level proportional-integral-derivative (PID) controllers is applied. To implement this control algorithm, a digital signal processor (DSP) control board was used to realize the higher level control and an off-the-shelf motor controller was used to realize the lower level PID control. Sensors were selected to provide the desired feedback. A dynamic simulation was performed to obtain the proper PID parameters which were then utilized in a bench test to verify the approach.

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Fig. 3

Prosthetic device prototype

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Fig. 2

Sketch of the four-bar mechanism and torsional spring configuration

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Fig. 1

Human ankle impedance plotted with the optimized mechanical design [14]

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Fig. 4

Overall finite state control algorithm

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Fig. 6

Fitted curve compared to the Winter [17] reference data

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Fig. 7

Hardware system configuration

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Fig. 8

Backpack with all the hardware components

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Fig. 9

Simulation of ankle moment output during stance phase with adjusted PID gains

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Fig. 10

Decomposed simulation result of the ankle moment during stance phase

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Fig. 11

Simulation result of joint C position during swing phase

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Fig. 13

Results of the moment bench testing

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Fig. 5

The proposed finite state machine working schematic

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Fig. 12

Moment bench testing configuration



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