Creation of automatic control system for bionic robotic below knee prosthesis

Authors:

Burov Gennady Nikolayevich, PhD in Technical sciences, head of scientific direction of Institute of prosthetics and orthotics, Albrecht Federal Scientific Centre of Rehabilitation of the Disabled, 50 Bestuzhevskaya Street, 195067 St. Petersburg, Russian Federation; e-mail: zxzy@yandex.ru; https://orcid.org/0000-0002-4700-6632.

Belyanin Oleg Leonidovich, leading researcher in Locomotor System Research Department of Institute of prosthetics and orthotics, Albrecht Federal Scientific Centre of Rehabilitation of the Disabled, 50 Bestuzhevskaya Street, 195067 St. Petersburg, Russian Federation; e-mail: belynin.oleg41@bk.ru; https://orcid.org/0000-0002-4700-6632.

Bolshakov Vladimir Aleksandrovich, senior researcher of Design and Engineering Department in Institute of prosthetics and orthotics, Albrecht Federal Scientific Centre of Rehabilitation of the Disabled, 50 Bestuzhevskaya Street, 195067 St. Petersburg, Russian Federation; e-mail: pko09_903@mail.ru; https://orcid.org/0000-0002-5889-3759.

Drobakha Alena Sergeevna, junior researcher of Design and Engineering Department in Institute of prosthetics and orthotic, Albrecht Federal Scientific Centre of Rehabilitation of the Disabled, 50 Bestuzhevskaya Street, 195067 St. Petersburg, Russian Federation; e-mail: drobaha-alena@mail.ru; https://orcid.org/0000-0001-9822-2792.

Annotation:

Introduction. The development of a control system for a movable articulated foot of below knee prosthesis based on bioelectrical signals from its muscles continues to be an urgent problem, since the existing mechanically controlled feet from the entire range of pedipulation tasks allow restoring only passive, weakly cushioned support and partially mobility. With a bipedal stance and walking, they also create a rather tense static-dynamic stability.

Aim. Improving the prosthetics of disabled people with amputation defects of the lower leg by expanding the functionality of the prosthesis with bioelectric control.

Materials and methods. The tasks of designing the mechanism of an artificial foot with a movable hinge were solved using the classical methods of the theory of mechanisms and machines in relation to the specifics of the object. The ideology of development and calculation of the control system is based on the theory of servo systems. The input signal from a bio object — leg muscles or a knee joint movement sensor — is adapted to the control system for the use of functional transducers. Improvement of noise immunity is achieved by using pulse-width coding of signals. The smoothness of movements and the stabilization of the positions of the mechanism are achieved by using deep feedback. As servo systems, the end limiters of the drive operation in terms of the volume of movements and a two-way self-braking overtaking clutch were used.

Results. The study made it possible to work out a general view drawing of a foot prosthesis model, issue working drawings of the model, and make a model demonstrating the operation of an innovative control system.

Discussion. The analysis of controlled artificial feet companies Ottobock, Park Industries Inc, Blatchford Endolite was carried out. It is noted that the feet with high functionality are complex, expensive and passive.

Conclusion. The performed study opened the possibility of creating a below knee prosthesis with a controlled artificial foot using a bioelectric signal or a signal from a mechano-sensor.

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