Average value based mathematical model for an artificial limb's driving mechanism

Abstract

This work is an effort towards developing and analyzing a linear mathematical model of the driving system in an artificial limb using Average value based approach. Here special emphasis has been given to the proposed method in suitably modifying the conventional modeling technique using nth order linear differential equation with constant coefficients. The design of the driving system is based on data's obtained from video analysis of human locomotion. Initially a prototype that is an open loop system was developed using PIC microcontrollers and DC series motors to mimic human locomotion. Further, the driving system was modified by incorporating P, PI, PID control algorithms and also with the help of Atmega328 microcontrollers. The dynamic characteristics of the developed system match with human gait and so this mathematical model will be capable in designing the artificial limb having similar driving characteristics.