Hemant Kr. Anand, Rachit Rastogi, G. C. Nandi
ABSTRACT: The paper presents a new technique for dynamic damping control based on natural humanoid walk for above knee prosthesis. It has been observed that natural humanoid walking is not solely relied on sensory feed back but also on Central Pattern Generators (CPG) and this CPG produces variation in joint trajectories based on task. Developing task oriented active prosthesis exploiting biologically inspired CPG patterns are of main focus of the paper. Task oriented stable gaits were synthesized using ZMP (Zero Moment Point) approach and the results were compared to kinematics of subjects captured by video streaming. Initial results suggest a feasible solution to gait pattern generation and adjustment of damping profile of prosthetic knee joints to achieve normal humanoid walking.
KEYWORDS: Active Prosthetic knee, Biped locomotion, Central Pattern Generator (CPG), Zero Moment Point (ZMP)