Kinematics-coordinated walking pattern based on embedded controls

Abstract

Electromechanical above-knee prosthetics are widely available, and are reliant on repetitive knee movements of fixed length/angle. This work explores the viability of developing adaptive movements on existing prototypes, through embedded controls from 8051-class 8-bit microcontroller units (MCUs). The system includes an integrated goniometer, intended for measuring the knee angle of the sound limb. The phase delay is subsequently processed to bring about kinematic coordination in the proposed echo-controlled prosthetic.

Keywords:

• Kinematic coordination
• Embedded control
• Phase detection
• Adaptive movement

Acknowledgements

The authors would like to thank the subjects who participated in collection of gait-cycle data on numerous occasions. They extend their gratitude to the laboratories at DIPAS, for their continued cooperation.