Transfemoral Prosthesis with Polycentric Knee Mechanism: Design, Kinematics, Dynamics and Control Strategy
Authors
Oleksandr M. Poliakov, Victor B. Lazarev and Olena O. Chepenyuk Laboratory of Biomechanics, Sevastopol National Technical University, 33, Universitetskaya str., Sevastopol, 99053, Ukraine
Abstract. Research results obtained developing budget model of transfemoral prosthesis with polycentric knee joint mechanism and microprocessor control are presented in this work. Dimensions of the mechanism links were determined on the basis of multicriteria optimization by the method of systematic investigation of parameter space with parameters uniformly distributed in multidimensional cube. Control strategy of the prosthesis with active drive units of knee and ankle joints and variable rigidity of magnetorheological damper was formulated. Keywords: Transfemoral Prosthesis, Artificial Knee, Bernstein's Problem, Optimality Criterion, Synergy, Control System.
