As the knee-ankle-toe dynamic prosthesis system has strong coupling,the control effect of this system is not ideal.A decoupler of the control law decomposition method is proposed to reduce the coupling degree and im-prove the control effect.First,the dynamics model of the knee-ankle-toe transfemoral prosthesis system is estab-lished using the Lagrange equation.This model has strong coupling,with a coupling degree of 1.22 and needs de-coupling.Therefore,a model decoupler is designed using the control law decomposition method to simplify the prosthesis system,transforming a strong coupling system to independent control models of knee,ankle,and toe.Finally,based on adaptive iterative learning,a controller is designed to control the joints of the 3-DOF prosthesis system before and after decoupling.The results reveal that the decoupler can simplify the prosthesis model into three single-input and single-output systems,which simultaneously reduce the coupling between joints and acceler-ate the convergence rate of the system.Compared with the control effect before decoupling,the convergence error of the system is obviously reduced after decoupling,providing a method for simplifying the model for a multi-joint prosthesis system and theoretical verification for physically controlling the prototype control.
knee-ankle-toe active transfemoral prosthesis/dynamics model/decoupler of control law decomposition method/adaptive iterative learning/decoupling control strategy/passive prosthesis/Lagrange equation/trajectory tracking
维普
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