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Towards Universal Control System for Powered Ankle–Foot Prosthesis: A Simulation Study

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Abstract

In powered ankle–foot prostheses, multilevel hierarchical control systems are usually used with predetermined parameters (tuned during the prosthesis trial). Therefore, control systems cannot adaptively interact with terrains variation where control systems is most effective for ground level walking and less effective for ascending or descending stair/slop. In order to address the control system performance in ever-changing terrains, an adaptive mechanism should be included the control system structure. Here, we present a pilot study to illustrate the applicability of a genetic algorithm-based adaptive fuzzy logic control system. The design method could be divided into two stages: initial knowledge base and membership functions for the genetic pool on the basis of the analysis of biological ankle–foot behaviour. Additionally, the construction of genetic optimization mechanism rules and constraints (fitness function, mutation rats, replacement rate, etc.). Takagi–Sugeno–Kang fuzzy (TSK-fuzzy) inference system is selected because the system structure could depict the character of simple impedance control system. The control system and dynamic model were developed using C code and evaluated using MATLAB/Simulink (2019a).

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Funding

This study was funded by Ministry of Higher Education, University of Malaya (FG004-17AFR), Platcom HIP-2 (AIM/PlaTCOM/HIP2/CCGF/2017/168).

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Authors and Affiliations

  1. Center for Applied biomechanics, Department of Biomedical Engineering, Faculty of Engineering, University of Malaya, 50603, Kuala Lumpur, Malaysia

    Mouaz Al Kouzbary, Noor Azuan Abu Osman, Hamza Al Kouzbary, Hanie Nadia Shasmin & Nooranida Arifin

  2. The Chancellery, University of Malaysia Terengganu, 21030, Terengganu, Malaysia

    Noor Azuan Abu Osman

  3. Department of Biomedical Engineering, Faculty of Engineering, University of Malaya, 50603, Kuala Lumpur, Malaysia

    Nooranida Arifin

Authors
  1. Mouaz Al Kouzbary
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  2. Noor Azuan Abu Osman
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  3. Hamza Al Kouzbary
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  4. Hanie Nadia Shasmin
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  5. Nooranida Arifin
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Correspondence to Noor Azuan Abu Osman.

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Al Kouzbary, M., Abu Osman, N.A., Al Kouzbary, H. et al. Towards Universal Control System for Powered Ankle–Foot Prosthesis: A Simulation Study. Int. J. Fuzzy Syst. 22, 1299–1313 (2020). https://doi.org/10.1007/s40815-020-00855-4

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  • DOI: https://doi.org/10.1007/s40815-020-00855-4

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