Simulation and evaluation prototype of intelligent lower limb prosthesis based on function requirements of human–machine system

Abstract

Robotic testing can facilitate the development of new concepts, designs and control systems for prosthetic limbs. Human subject test clearances, safety and the lack of repeatability associated with human trials can be reduced or eliminated with automated testing, and test modalities are possible which are dangerous or inconvenient to attempt with patients. In order to make evaluation of the function of the intelligent lower limb prosthesis, according to the requirements of main function of the human–machine system of prosthetic leg, the simulation and evaluation system of above-knee prosthesis function was designed. The control system was designed on the basis of overall design. A set of evaluation method was proposed, and the gait symmetry was measured by the designed evaluation system. The experimental results showed that the symmetry of the swing gait velocity was 96.5% and gait tracking effect was good. Therefore, the system had a good effect on the function simulation and evaluation of the prosthesis.