Manyetoreolojik (Mr) Silindirli Yarı Etkin Diz Ekleminin Sonlu Durum Denetimi

Abstract

In this study, in the most general sense, the finite state control for the semi active knee prosthesis with MR cylinder is realized. For this purpose, the similarities between gaits with the prosthetics and the normal gaits are examined morphologically and the error values are determined by using reference data set obtained from healthy subjects. The images of the regular and prosthetic gaits are collected and analyzed by the image-based motion analysis system. In order to examine the performance of the prosthetics, the highest knee angle and gait cycle duration are taken into the consideration as performance criteria and compared the performances with those of regular gaits. In the second phase of the study, necessary cylinder stiffness levels are determined through the set of different gait tests on the different gait speeds and cylinder stiffness levels. In parallel to this effort, the gait cycles are examined and divided into five different gait phases.