Controller Design and Implementation for a Powered Prosthetic Knee
General Material Designation
[Thesis]
First Statement of Responsibility
Rosa, Matthew David
Subsequent Statement of Responsibility
Kazerooni, Homayoon
.PUBLICATION, DISTRIBUTION, ETC
Name of Publisher, Distributor, etc.
UC Berkeley
Date of Publication, Distribution, etc.
2012
DISSERTATION (THESIS) NOTE
Body granting the degree
UC Berkeley
Text preceding or following the note
2012
SUMMARY OR ABSTRACT
Text of Note
Powered prosthetic knees offer many improvements over passive devices; however, the added actuation is difficult to control due to the lack of input from the user. A means of controlling a powered prosthetic knee is proposed by predicting the type of swing behavior the knee must perform based on the position of the foot relative to the person during toe-off. The software to accomplish this is implemented via a finite state machine which activates specific knee angle reference generators for each state. The reference generators serve as the input of a nonlinear feedback controller to ensure accurate positioning of the knee joint.