Development of an advanced control system for prostheses (artificial limbs) is necessary to provide functionality, effectiveness, and preferably the feeling of a sound living limb. The development of the control system has introduced varieties of control strategies depending on the application. This paper reviews some control systems used for prosthetics, orthotics, and exoskeletons. The advantages and limitations of different control systems for particular applications have been discussed and presented in a comparative manner to help in deciding the appropriate method for pertinent application.
Robotic technologies are being employed increasingly in the treatment of lower limb disabilities. Individuals suffering from stroke and other neurological disorders often experience inadequate dorsiflexion during swing phase of the gait cycle due to dorsiflexor muscle weakness. This type of pathological gait, mostly known as drop-foot gait, has two major complications, foot-slap during loading response and toe-drag during swing. Ankle foot orthotic (AFO) devices are mostly prescribed to resolve these complications. Existing AFOs are designed with or without articulated joint with various motion control elements like springs, dampers, four-bar mechanism, series elastic actuator, and so forth. This paper examines various AFO designs for drop-foot, discusses the mechanism, and identifies limitations and remaining design challenges. Along with two commercially available AFOs some designs possess promising prospective to be used as daily-wear device. However, the design and mechanism of AFO must ensure compactness, light weight, low noise, and high efficiency. These entailments present significant engineering challenges to develop a new design with wide consumer adoption.
Today, the whole world faces a great challenge to overcome the environmental problems related to global energy production. Most of the islands throughout the world depend on fossil fuel importation with respect to energy production. Recent development and research on green energy sources can assure sustainable power supply for the islands. But unpredictable nature and high dependency on weather conditions are the main limitations of renewable energy sources. To overcome this drawback, different renewable sources and converters need to be integrated with each other. This paper proposes a standalone hybrid photovoltaic- (PV-) wave energy conversion system with energy storage. In the proposed hybrid system, control of the bidirectional buck-boost DC-DC converter (BBDC) is used to maintain the constant dc-link voltage. It also accumulates the excess hybrid power in the battery bank and supplies this power to the system load during the shortage of hybrid power. A three-phase complex vector control scheme voltage source inverter (VSI) is used to control the load side voltage in terms of the frequency and voltage amplitude. Based on the simulation results obtained from Matlab/Simulink, it has been found that the overall hybrid framework is capable of working under the variable weather and load conditions.
Energy is one of the most important factors in the socioeconomic development of a country. In a developing country like Malaysia, the development of islands is mostly related to the availability of electric power. Power generated by renewable energy sources has recently become one of the most promising solutions for the electrification of islands and remote rural areas. But high dependency on weather conditions and the unpredictable nature of these renewable energy sources are the main drawbacks. To overcome this weakness, different green energy sources and power electronic converters need to be integrated with each other. This study presents a battery storage hybrid standalone photovoltaic-wind energy power supply system. In the proposed standalone hybrid system, a DC-DC buck-boost bidirectional converter controller is used to accumulates the surplus hybrid power in the battery bank and supplies this power to the load during the hybrid power shortage by maintaining the constant dc-link voltage. A three-phase voltage source inverter complex vector control scheme is used to control the load side voltage in terms of the voltage amplitude and frequency. Based on the simulation results obtained from MATLAB/Simulink, it has been found that the overall hybrid framework is capable of working under variable weather and load conditions.
A gear-based knee joint is designed to improve the performance of mechanical-type above-knee prostheses. The gear set with the help of some bracing, and bracket arrangement, is used to enable the prosthesis to follow the residual limb movement. The motion analysis and finite-element analysis (FEA) of knee joint components are carried out to assess the feasibility of the design. The maximum stress of 29.74 MPa and maximum strain of 2.393e-004 are obtained in the gear, whereas the maximum displacement of 7.975 mm occurred in the stopper of the knee arrangement. The factor of safety of 3.5 obtained from the FE analysis indicated no possibility of design failure. The results obtained from the FE analysis are then compared with the real data obtained from the literature for a similar subject. The pattern of motion analysis results has shown a great resemblance with the gait cycle of a healthy biological limb.
Human motion is a daily and rhythmic activity. The exoskeleton concept is a very positive scientific approach for human rehabilitation in case of lower limb impairment. Although the exoskeleton shows potential, it is not yet applied extensively in clinical rehabilitation. In this research, a fuzzy based control algorithm is proposed for lower limb exoskeletons during sit-to-stand and stand-to-sit movements. Surface electromyograms (EMGs) are acquired from the vastus lateralis muscle using a wearable EMG sensor. The resultant acceleration angle along the z-axis is determined from a kinematics sensor. Twenty volunteers were chosen to perform the experiments. The whole experiment was accomplished in two phases. In the first phase, acceleration angles and EMG data were acquired from the volunteers during both sit-to-stand and stand-to-sit motions. During sit-to-stand movements, the average acceleration angle at activation was 11°-48° and the EMG varied from -0.19 mV to +0.19 mV. On the other hand, during stand-to-sit movements, the average acceleration angle was found to be 57.5°-108° at the activation point and the EMG varied from -0.32 mV to +0.32 mV. In the second phase, a fuzzy controller was designed from the experimental data. The controller was tested and validated with both offline and real time data using LabVIEW.