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Trajectory Control of an Active and Passive Hybrid Hydraulic Ankle Prosthesis Using an Improved PSO-PID Controller

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Abstract

The development of intelligent prostheses has provided convenience and confidence to amputees’ lives. For the majority of patients that only use a passive ankle prosthesis structure without its corresponding function, the development of intelligent ankle prostheses is very important. In this paper, a controllable active and passive hybrid hydraulic ankle prosthesis (APHHAP) with active drive, precise damping regulation, and energy recovery functions is presented. Also, an embedded control board capable of communicating with motors, a computer, and a mobile phone terminal as well as connecting various types of sensors for real-time monitoring of an ankle prosthesis motion state is designed. This board is based on STM32F429ZI. For a better control performance, generalized opposition-based learning, variable parameters based on the sigmoid function, and adaptive elite mutation are introduced to improve the traditional particle swarm optimization (PSO) algorithm. The new algorithm is called improved particle swarm optimization (IGOPSO) algorithm. The IGOPSO algorithm achieves better optimization and faster convergence than traditional PSO algorithms. Using simulation, which adopts a mathematical model based on a piecewise function, the parameter range values are obtained, and the number of invalid running times is reduced. Experiments on a physical prototype are conducted to validate the control algorithm performance. The obtained experimental results demonstrate that by combining IGOPSO with the proportion integration differentiation (PID) algorithm (IGOPSO-PID control algorithm), efficient track tracking control of the APHHAP dorsiflexion and plantarflexion as well as significant improvement in its control accuracy can be achieved.

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Code Availability

The data presented in this study are available on request from the corresponding author.

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Funding

This work was supported by National Key R&D Program of China under Grant 2018YFC2001300, Young and Middle-aged Scientific and Technological Innovation and Entrepreneurship Outstanding Talents (Team) Project (Innovation) of Jilin Province under Grant 20210509007RQ, and the Fundamental Research Funds for the Central Universities, Jilin University.

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Authors and Affiliations

  1. The School of Mechanical Science and Aerospace Engineering, Jilin University, Changchun, 130000, China

    Yang Han, Chunbao Liu, Zhennan Li, Shaopeng Shan & Xian Wang

  2. College of Biological and Agricultural Engineering, Jilin University, Changchun, 130000, China

    Haohua Xiu, Luquan Ren & Lei Ren

  3. Key Laboratory of Bionic Engineering (Ministry of Education, China), Jilin University, Changchun, 130000, China

    Haohua Xiu, Luquan Ren & Lei Ren

  4. The School of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester M13 9PL, UK

    Lei Ren

Authors
  1. Yang Han
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  2. Chunbao Liu
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  3. Haohua Xiu
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  4. Zhennan Li
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  5. Shaopeng Shan
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  6. Xian Wang
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  7. Luquan Ren
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  8. Lei Ren
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Contributions

All authors contributed to the study conception and design. The literature was researched by Yang Han, Shaopeng Shan, Luquan Ren, and Lei Ren. Mechanical structure was designed by Yang Han, Haohua Xiu, Zhennan Li, and Shaopeng Shan. Electronic circuit was designed by Yang Han, Chunbao Liu, Luquan Ren, and Lei Ren. Methodologies were conceived by Yang Han, Chunbao Liu, and Haohua Xiu and Zhennan Li. Data collection and analysis were performed by Yang Han, Chunbao Liu, Haohua Xiu and Luquan Ren. Simulations and experiments were designed by Yang Han, Chunbao Liu, Haohua Xiu, and Xian Wang. The first draft of the manuscript was written by Yang Han, Chunbao Liu, Haohua Xiu, and Lei Ren. All authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.

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Correspondence to Chunbao Liu or Haohua Xiu.

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Han, Y., Liu, C., Xiu, H. et al. Trajectory Control of an Active and Passive Hybrid Hydraulic Ankle Prosthesis Using an Improved PSO-PID Controller. J Intell Robot Syst 105, 48 (2022). https://doi.org/10.1007/s10846-022-01670-9

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  • DOI: https://doi.org/10.1007/s10846-022-01670-9

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