TY - JOUR
T1 - Fuzzy Control of Electrohydraulic Above Knee Prostheses
AU - Ju, Ming Shaung
AU - Tsuei, Yeong Ging
AU - Yi, Sheng Hung
AU - Chou, You Li
PY - 1995/1/1
Y1 - 1995/1/1
N2 - A fuzzy controller is employed to control an electrohydraulic four-bar above-knee prosthesis for the swing phase in level walking. A two-dimensional (sagittal plane) mechanical model of the above-knee amputeeis developed and the amputee prosthesis system is simulated for the swing phase. The man-machine system has two fuzzy controllers: a knee fuzzy controller which adjusts the knee damping moment so the prosthetic knee angle trajectory will track that of the patient's sound knee in the previous swing and a hip fuzzy controller utilized to model the way that an amputee will manipulate the prosthesis. From an optimaldesign procedure, a set of fuzzy controllers is found and an optimal relationship between variations of initial stump velocity and initial artificial shank velocity for the amputee is found. The results showed that the amputee swing gait can be controlled to anear normal one and walking with varied speed is possible.
AB - A fuzzy controller is employed to control an electrohydraulic four-bar above-knee prosthesis for the swing phase in level walking. A two-dimensional (sagittal plane) mechanical model of the above-knee amputeeis developed and the amputee prosthesis system is simulated for the swing phase. The man-machine system has two fuzzy controllers: a knee fuzzy controller which adjusts the knee damping moment so the prosthetic knee angle trajectory will track that of the patient's sound knee in the previous swing and a hip fuzzy controller utilized to model the way that an amputee will manipulate the prosthesis. From an optimaldesign procedure, a set of fuzzy controllers is found and an optimal relationship between variations of initial stump velocity and initial artificial shank velocity for the amputee is found. The results showed that the amputee swing gait can be controlled to anear normal one and walking with varied speed is possible.
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U2 - 10.1299/jsmec1993.38.78
DO - 10.1299/jsmec1993.38.78
M3 - Article
AN - SCOPUS:0029276744
VL - 38
SP - 78
EP - 86
JO - JSME International Journal, Series C: Dynamics, Control, Robotics, Design and Menufacturing
JF - JSME International Journal, Series C: Dynamics, Control, Robotics, Design and Menufacturing
SN - 1340-8062
IS - 1
ER -