Adaptive Compliance Control of Ankle Prosthesis for Individual Differences

The research object of this paper is the ankle prosthesis system based on the electro-hydrostatic actuation principle. Aiming at the problem that the impedance characteristic of the existing controller is fixed, this paper designs an adaptive robust controller to estimate the ankle joint output torque by analyzing the relationship between the ankle joint angle and the output torque during walking and uses the co-simulation model to verify the feasibility of the algorithm. At the same time, the prosthetic-wearing experiment was carried out on three different subjects. The research results show that compared with the traditional parameter fitting method, this algorithm has higher control accuracy for the ankle angle and torque of different subjects, which verifies the effectiveness of the active compliance control algorithm for individual differences.