DC 모터 기반의 능동형 의족 시스템 프로토 타입 개발 및 제어

초록

In this paper, we describe the structure of a lab-built powered knee prosthesis, developed as a prototype, and deal with the control of it. The prosthesis is built on the basis of previous researches and it adopts the slider-crank mechanism to manipulate the knee joint. We divide the gait phase into five stages and use a finite state machine (FSM) to generate a torque reference needed for each stage. We aso propose to use a position-based impedance controller for driving the powered knee prosthesis stably. We perform some walking experiments at fixed speeds in order to show the features of the built powered prosthesis. The experimental results show that our prosthesis exhibits similar knee angle trajectories to those of healthy people.