Research Description
One of the most difficult issues in the design of power ankle-foot prosthetics is to create a control system that can simulate biological ankle-foot behavior in various operating conditions. The mechanical design of a novel PSAAP is studied. The powered semi-active anklefoot prosthetic is a complex nonlinear system with high coupling. For powered ankle prostheses, a fuzzy logic-proportional-integral (FLCPI) controller is presented. In the initial stage of control, two proportional-integral (PI) controllers are designed to regulate motor speed and current, respectively. In the next stage of control, two FLCPI controllers are designed. The PI controller's gains are intended to be adjusted online by the fuzzy logic controller. FLC-PI controllers are used to control the designated model under these external disturbances during a typical walking gait cycle. The performance of PI controllers and FLC-PI controllers are compared …
