Gait Control of Robotic Leg Prosthesis Based on Motion Predictive System

This paper aims to propose a motion predictive system for the gait control of robotic leg prosthesis to realize the smooth translation between different walking speeds and terrain conditions. By combining the signal of inertial measurement unit (IMU) and the RGBD camera, walking terrain conditions were recognized, such as the level ground, slop, up stair and down stair. Moreover, the thigh angle of amputee can be measured by another IMU mounted on the residual limb. The phase variable was constructed to realize the smooth translation between different walking states. Combining the signal of force sensor attached on the footplate of the leg prosthesis, the following gait of the amputee can be predicted.