Abstract
This paper proposes a fuzzy control algorithm for human walking cycle of an active ankle prosthesis for people who have suffered amputation of the lower limb, the system hasone degree of freedom in the sagittal plane. Also, a biomechanical analysis of foot and ankle is shown to define the phases of plantar support and swinging. The used actuator is an intelligent servomotor, Dynamixel MX-106T which has torque, current and position feedback, among others, allowing real-time telemetry of the prototype implemented in a microcontroller system.
Translated title of the contribution | Control del ciclo de marcha de una prótesis activa de tobillo con un grado de libertad monitorizado desde un ordenador personal |
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Original language | English (US) |
DOIs | |
State | Published - 31 Dec 2015 |
Event | 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2015) - IT Duration: 25 Aug 2015 → 29 Aug 2015 http://embc.embs.org/2015/splash/ |
Conference
Conference | 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2015) |
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Period | 25/08/15 → 29/08/15 |
Internet address |
Keywords
- Ankle prosthesis
- Freedom monitored
- Personal computer
- Walking
CACES Knowledge Areas
- 417A Electronics, Automation and Sound