Neural Network Predictive Control of Swing Phase for a Variable-Damping Knee Prosthesis With Novel Hydraulic Valve

Abstract

It is necessary to develop an effective knee prosthesis to recover the lost mobility of amputees. Variable-damping knee prostheses utilizing hydraulic dampers offer several advantages, but current researches are limited in approaching healthy knee behavior. To improve the gait symmetry, this study proposed a variable-damping knee prosthesis with a novel hydraulic damper using neural network predictive control (NNPC) scheme during swing phase. The external fan valve structure of the hydraulic damper can not only realize independent and continuous adjustment of flexion and extension damping by a single motor, but also can effectively avoid the damping adjustment failure caused by excessive load. NNPC was proposed as a controller to control the novel hydraulic damper during swing phase. The online simulation is carried out based on MATLAB utilizing the workbench composed of knee prosthesis prototype and self-built gait simulation and evaluation platform, so as to preliminarily verify the online feasibility and effectiveness of the algorithm at different speeds. The offline gait symmetry experiments are designed to more intuitively and effectively compare the performance of NNPC with the fuzzy logical control proposed in previous work. The results show that NNPC improves the gait symmetry from the fuzzy logical control at different walking speeds as the values of symmetry indices are significantly decrease in the range of 5.13% to 33.96%. These results indicate that the proposed variable-damping knee prosthesis can make a good performance on improving the approximation of healthy gait characteristics and meet the fundamental requirements of walking at various walking speeds.