Development of Powered Semi-Active Ankle-Foot Prosthetic with Fuzzy Logic-PI Controller | ||||
| JES. Journal of Engineering Sciences | ||||
| Article 6, Volume 52, Issue 1, January and February 2024, Page 1-15 PDF (2.06 MB) | ||||
| Document Type: Research Paper | ||||
| DOI: 10.21608/jesaun.2023.234785.1257 | ||||
 View on SCiNiTO | ||||
| Authors | ||||
E. G. Shehata1; Mariem Y. William2; A A Hassan3; khalil Ibrahim  4, 5
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| 1Electrical Engineering Dept., Faculty of Engineering, Minia University, Minia, Egypt. | ||||
| 2Lecturer, Mechanical Engineering Dept., High Technology and Engineering Institute in New Minia | ||||
| 3Professor, Electrical Engineering Dept., Faculty of Engineering, Minia University, Minia, Egypt. | ||||
| 4Assoc. Prof., Mechatronics Department, Faculty of Engineering, Assiut University, Assiut, Egypt. | ||||
| 5Faculty of industry and Energy Technology, New Assiut Technological University (NATU), New Assiut city, Egypt | ||||
| Abstract | ||||
| One of the most difficult issues in the design of power ankle-foot prosthetics is to create a control system that can simulate biological ankle-foot behavior in various operating conditions. The powered semi-active ankle-foot prosthetic is a complex nonlinear system with high coupling. This work presents the dynamic model of powered ankle prosthetics. For powered ankle prostheses, a fuzzy logic- proportional-integral (FL-PI) controller is presented. In the initial stage of control, two proportional-integral (PI) controllers are designed to regulate motor speed and current, respectively. In the next stage of control, two FL-PI controllers are designed. The Fuzzy logic controller is designed to tune online the gains of the PI controller. During a normal walking gait cycle, FL-PI controllers are used to regulate the specified model under these external disturbances. The performance of PI controllers and FL-PI controllers are compared during the walking gait cycle. The results reveal that a powered semi-active ankle-foot prosthetic with a fuzzy logic-PI controller method outperforms a PI controller alone. | ||||
| Keywords | ||||
| Fuzzy logic controller; PI controller; Semi-active ankle; foot prosthetic; experimental | ||||
| References | ||||
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