TY - JOUR
T1 - Development of Electrohydraulic Controlled Above-Knee Prostheses
AU - Tsai, P. J.
AU - Ju, M. S.
AU - Tsuei, Y. G.
PY - 1993/2/1
Y1 - 1993/2/1
N2 - In this study, a four-bar linkage above-knee (AK) prosthesis with an electrohydraulic controller was developed. A microcomputer was employed to regulate the puppet valve of the hydraulic control system. To obtain a reliable design, a test rig was also designed for evaluation of the knee controller performance. The rig had a variablespeed alternate-current servomotor for simulating the angular displacement of the hip joint at different walking speeds. A proportional+derivative (PD) controller was employed to regulate the knee torque of the above-knee prosthesis. Experimental results revealed that the controller can produce a knee joint trajectory close to that of a normal person or a designed one. Use of the electrohydraulic controller can be expected to improve the amputee swing phase gait.
AB - In this study, a four-bar linkage above-knee (AK) prosthesis with an electrohydraulic controller was developed. A microcomputer was employed to regulate the puppet valve of the hydraulic control system. To obtain a reliable design, a test rig was also designed for evaluation of the knee controller performance. The rig had a variablespeed alternate-current servomotor for simulating the angular displacement of the hip joint at different walking speeds. A proportional+derivative (PD) controller was employed to regulate the knee torque of the above-knee prosthesis. Experimental results revealed that the controller can produce a knee joint trajectory close to that of a normal person or a designed one. Use of the electrohydraulic controller can be expected to improve the amputee swing phase gait.
UR - http://www.scopus.com/inward/record.url?scp=0027660871&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0027660871&partnerID=8YFLogxK
U2 - 10.1299/jsmec1993.36.347
DO - 10.1299/jsmec1993.36.347
M3 - Article
AN - SCOPUS:0027660871
SN - 1340-8062
VL - 36
SP - 347
EP - 352
JO - jsme international journal. ser. c, dynamics, control, robotics, design and manufacturing
JF - jsme international journal. ser. c, dynamics, control, robotics, design and manufacturing
IS - 3
ER -