DESIGN OPTIMIZATION AND CONTROL APPROACH FOR A NOVEL POWERED ABOVE KNEE PROSTHESIS
Mücahit EGE Serdar Kucuk K.MEMİŞOĞLU
AbstractThis paper presents optimization and control of a new fully Powered Above Knee Prosthesis (PAKP) that can perform a single axis movement in the knee joint and two axes movements in the ankle joint. The knee and ankle joints are controlled by using DC servo motors. As can be a well-known issue that the weight of the prostheses can directly affect the performance of the whole system. Therefore, PAKP is produced by using PLA material due to its lighter weight. The weight of the prosthesis is also optimized for improving the performance of the system. In this study, PAKP is considered a 3-DOF serial robotic manipulator and gait cycles are treated as robotic trajectories. Finally, PAKP is controlled by applying a trajectory generation algorithm.