An adaptive TS fuzzy-PID controller applied to an active knee prosthesis based on Human walk

To ameliorate living conditions of people suffering from limb amputations, artificial prothesis are developed to follow Human body locomotion. This paper aims to depict and evaluate the dynamic modeling and control strategy for an Active Knee Prosthesis (APK). As a first step, the motion equations governing the APK are derived using Euler-Lagrange method. Then, human healthy leg data is used to build a knowledge based fuzzy inference system (FIS) to control the dynamic motions of the APK. An adaptive fuzzy-PID controller is designed to generate desired angles deduced from healthy leg. A conclusion finished the paper.