Wearable system for the acquisition of ground reaction forces for control of semi-active prothesis

This work presents the design of a semi-active transfemoral prosthesis, which uses GRF signals from the sole of the foot and EMG on the biceps femoral to control the cushioning on the knee joint. The system uses a magnetorheological actuator that modifies the force of the piston from regulating the current that feeds it. The model selected for the control of the magnetorheological actuator by current regulation was evaluated by simulation. Laboratory experiments were conducted to acquire a database of FGR and EMG signals that will be used to train an intelligent system capable of personalizing the operation of the prosthesis for everyone, regulating the cushioning on the knee during activities of daily life.