Abstract:

BACKGROUND: The knee damping of traditional lower limb prosthesis cannot be changed when the walking state is changing. Traditional prosthesis with limited operating range cannot follow the sound leg.
OBJECTIVE: To achieve real-time tracking and pace following of limb prosthesis to healthy limb based on the control of intelligent lower limb prosthesis by finite-state machine.
METHODS: The intelligent lower limb prosthesis adopted a four-bar linkage with a fixed pneumatic cylinder, and finite-state machine controlling method was in use. It sensed the current gait event, triggered the gait transition state, and adjusted the gait patterns to get the export action of the gait planning.
RESULTS AND CONCLUSION: The results showed that the intelligent lower limb prosthesis could identify the gait and the walking speed. Different controlling strategies could be exported from the controller, and it controlled the stepper motor to adjust the size of the knee damping. The prosthetic limb side could track the health limb side on real time and follow the walking speed.