Design of Fall Protection and Control System for Wearers of Lower Limb Prosthesis

From the perspective of human-robot integration, the fall protection and control system for prosthesis is designed, including fall pre-warning and fall protection control. Firstly, a fall pre-warning system is designed through analyzing the human-machine comprehensive information to implement pre-recognition and pre-warning of the abnormal fall gait of the wearers effectively. The experience of fall protection action is extracted by the method of empirical knowledge library based on the effective protection strategy of the healthy people, and the fall protection strategy is developed for the prosthetic knee joint. The four-link prosthetic mechanism is taken as the controlled object, the motion control model is established through polynomial fitting to design the fall protection control system of lower limb prosthesis based on the event triggered control. The fall warning information is used as the trigger condition, and the knee-joint recovery action of the healthy people when falling down is taken as the target intention to control the scheduled turning of the prosthetic knee joint. Experiments show that the prosthetic knee joint and residual limb can coordinate closely in the same natural space and realize the right protection.