Microcontroller based realization of gait speed estimation for electronic above knee prostheses

In this study, as a part of microprocessor based semi-active knee joint design, real time gait speed estimation algorithms based on recorded sensor data have been implemented to use in the control of prosthesis during walking. Image based and sensor based motion measurements are used for this purpose and the programs associated with this system are also developed in order to analyze the parameters of the walk of amputees. This low cost system for two dimensional gait analyses in the sagittal plane has been equipped for testing the performances of prosthesis and developing the control unit sensing the user intentions and various terrain conditions. Gyroscope and accelerometer among standard sensors were selected for prosthesis systems due to their low cost and `easy to use´ structures. For these two sensors the speed estimation algorithms have been developed and they were used in microcontroller based control unit of artificial knee.