The control methods of Knee-Ankle-Toe Active Transfemoral Prosthesis in stance phase

In this paper, a Knee-Ankle-Toe Active Transfemoral Prosthesis (KATATP) is designed for improving the walking performance of the amputees. The main contents are as follows: First, the mechanical model of the prosthesis with three joints is established to help analyze the kinematics and dynamics characteristics of the joints; second, the Drive Torque Calculation cell is proposed to calculate the torque required for the movement of prosthesis joints; third, the motor, which provides the desired torque, drives the prosthesis; finally, experimental results indicate that the KATATP can help the amputee obtain more natural and symmetrical walking gaits. Moreover, the plantar pressure information of the amputated side is close to that of the sound side.