An Active-passive Lightweight Prosthesis Simulating Normal Human Walking Gait

Lower limb prosthesis is one of the most important means to address the mobility impairment of lower limb amputees. At present, there are still many shortcomings in the control strategies and optimization methods of purely active and purely passive lower limb prostheses. In this paper, a new lightweight prosthetic system is designed by combining the advantages of active and passive prostheses and adopting an active-passive design approach. The active knee joint can be used to better implement gait tracking and output the appropriate impedance, while the passive ankle-foot part can provide an approximate moment generated during human walking through its own elastic structure. By designing the corresponding controller, the knee and ankle joints can move in a coordinated manner to produce a walking gait similar to that of a normal human body. The effectiveness of this prosthesis in simulating normal human walking gait was verified through simulation experiments.