Simulated Analysis about Swing-Motion of Lower Limb Prosthesis with Knee-angle Feedback Device

Abstract

In this paper, stability has been considered of a prosthetic gait obtained with an artificial knee-angle feedback system. For a biped gait, the swing leg has a more important role than the stance leg. But, in an above-knee prosthetic gait, the learning control of a prosthetic knee is the most difficult task for an amputee. Then, swing motion was observed, and its performance was described with four parameters. Based upon the theory of learning control, simulated experiments were performed, assuming the process of amputee's progress in his gait to be an optimal feedback gain adjusting process. From simulated experiments, validity of our modeling and analysis was confirmed.