A Test-bed for Above-knee Intelligent Prosthesis

In order to develop an advanced intelligent prosthesis which can help above-knee amputee to walk like healthy people, a test-bed for above-knee intelligent prosthesis has been set up. Mechanism and virtual prototype model are all built. The test-bed consists of a bionic leg (BL) which simulates above-knee prosthesis, an artificial leg (AL) which simulates healthy leg, a simplified upper body (head and torso, HAT) and control system. Some key technologies have been presented such as AL modeling of mechanics and dynamics, optimal mechanism design and system architecture. An example of iterative learning control (ILC) algorithm implementation has been given based on virtual prototype model provided by this test-bed. This has indicated that the test-bed can enable researchers to validate their own control algorithms.