| 摘要 |
The method and the control system are used for determining a portion of locomotion and a phase of locomotion portion in view of controlling an actuated prosthesis in real time. Accordingly, the method comprises receivin g a data signal from a plurality of main artificial proprioceptors (16), obtaining a first and a second derivative signal for each data signal, obtaining a third derivative signal for at least one of the data signals, using a set of a first state machines to select one state among a plurality of possible states for each artificial proprioceptor with the corresponding dat a and derivative signals, generating the phase of locomotion portion using the states of the main artificial proprioceptors; and using a second state machi ne to select the portion of locomotion among a plurality of possible portions o f locomotion using events associated to the data signals. It is particularly well adapted for the control of an actuated leg prosthesis (12) for above-kn ee amputees. |
