A Comfort Model of Intelligent Lower Limb Prosthesis Control

The control comfort of powered prosthesis is an important evaluation in the design of the intelligent prothesis. Control comfort is a complex comprehensive description with respect to many related factors and hard to be modeled. Current researches about intelligent prothesis rarely give a systematic description of the comfort model which is vital important for the design and optimization of the control system. Therefore, this paper proposes a comfort model by analysing the possible influencing factors and building comfort decomposition indexes. Our research focuses on the comfort mechanism of the control system. The comfort mechanism is analysed by given a 3-layer structure which considers the factors in the human-prosthesis-environment system. 6 comfort decomposition indexes are raised according to the analysis above and the data given by the walking gait dataset. By combining the decomposition indexes, a comfort model of the prosthetic control system is built to give a systematic instruction in the optimization of prosthesis control system. Finally 3 examples are raised to illustrate the applications in different control tarzets.