Shehata, E., William, M., Hassan, A., Ibrahim, K. (2024). Development of Powered Semi-Active Ankle-Foot Prosthetic with Fuzzy Logic-PI Controller. JES. Journal of Engineering Sciences, 52(1), 1-15. doi: 10.21608/jesaun.2023.234785.1257
E. G. Shehata; Mariem Y. William; A A Hassan; khalil Ibrahim. "Development of Powered Semi-Active Ankle-Foot Prosthetic with Fuzzy Logic-PI Controller". JES. Journal of Engineering Sciences, 52, 1, 2024, 1-15. doi: 10.21608/jesaun.2023.234785.1257
Shehata, E., William, M., Hassan, A., Ibrahim, K. (2024). 'Development of Powered Semi-Active Ankle-Foot Prosthetic with Fuzzy Logic-PI Controller', JES. Journal of Engineering Sciences, 52(1), pp. 1-15. doi: 10.21608/jesaun.2023.234785.1257
Shehata, E., William, M., Hassan, A., Ibrahim, K. Development of Powered Semi-Active Ankle-Foot Prosthetic with Fuzzy Logic-PI Controller. JES. Journal of Engineering Sciences, 2024; 52(1): 1-15. doi: 10.21608/jesaun.2023.234785.1257
Development of Powered Semi-Active Ankle-Foot Prosthetic with Fuzzy Logic-PI Controller
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.
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