Design and control of an active prosthetic leg

Abstract

The purpose of this paper is to present the design, prototype and control of an active prosthetic leg. The research scope encompasses the mechanical design, the electronic design and the control system design. The mechanical design covers kinematic diagram design, dynamic system modelling and 3D design. Meanwhile, the electronic one includes PCB mainboard design and sensor system design. The control system design consists of system parameter estimation and self-tuning regulator adaptive controller design, creating the adaptive controller which plays a role as the brain of the prosthetic leg to control the whole system. The main objective of this work is to produce a very first prototype of an active prosthetic leg which mimics the movement, experimenting on a healthy man before being adopted on amputees. In addition, the prosthetic leg can be also served as a test platform for testing the control methods.