Development of an Intelligent Prosthetic Knee Control System

A controller for a intelligent prosthetic knee which consists of four bar linkage mechanism with fixed pneumatic cylinder is presented. To detect human motion parameters, local sensor of goniometer and hall sensor are adopted. To obtain a displacement of the conical valve correspond to current speed, a knowledge base is established by ILC(Iterative Learning Control) algorithm. To validate the effects of the trans-femoral prosthesis controller, preliminary experiment is conducted. The results indicate that amputee can walk with a increased level of biological realism.