Development Of Controller For Prosthetic Leg Using PID Method

• Auteur principal: Abd Rahman, Asrul
• Format: Thèse
• Langue: anglais; anglais
• Publié: 2016
• Sujets: T Technology (General); TJ Mechanical engineering and machinery
• Accès en ligne: http://eprints.utem.edu.my/id/eprint/24941/1/Development%20Of%20Controller%20For%20Prosthetic%20Leg%20Using%20Pid%20Method.pdf; http://eprints.utem.edu.my/id/eprint/24941/2/Development%20Of%20Controller%20For%20Prosthetic%20Leg%20Using%20Pid%20Method.pdf

This report presents the modeling and control of an actuated prosthetic knee mechanism for trans femoral amputees. The mechanism consists of a linear actuation system that feeds the mechanism with the required moment and power at every different movements. Physical simulation that takes weight data that is used to simulate and identify the physical parameters of the prosthetic leg. Information from other research were collected and used as references for this study. Movements such as standing, climbing slope, and stair ascent were tested at different time intervals. The results of which can be summarized based on the weight difference is restricted to the shank and foot with a single angular position which does not exceed 20˚. PID control parameters were tuned and resulting the angle of the prosthetic leg could achieve the desired angle at time period of 1 s. Amplitude this point starts at 0 unit at the time of 0.42 seconds. At point 0 units - 20 units the movement takes longer than the 20- point and above. It was found that the effect towards the foot is more significant compared to the shank in terms of both studied variables; angle of movement and exerted pressure. Further analysis must be carried out for the development stage of the knee mechanism. Also, more experiments must be conducted with the trans femoral amputees to improve the overall performance of the knee mechanism.