Study of the Control of Active Transfemoral Prosthesis Based on CPG


Article Preview

Commercial transfemoral prostheses remain limited to energetically passive devices. Intelligent prostheses still do not replace the power generation capabilities of the missing limb. Active Transfemoral Prosthesis is designed to compensate the movements of transfemoral amputees. Base on the function and principle of huaman lower limb, Active transfemoral prosthesis is designed. Virtual prototype of active transfemoral prosthesis 3D model is built through Solidworks. A dynamical system is used to generate a position trajectory to control a linear motor replacing the missing joint. Hopf oscillator is used to construct a central pattern generator (CPG), which makes up the dynamical system.



Advanced Materials Research (Volumes 468-471)

Edited by:

Wenzhe Chen, Pinqiang Dai, Yonglu Chen, Dingning Chen and Zhengyi Jiang




Y. L. Geng et al., "Study of the Control of Active Transfemoral Prosthesis Based on CPG", Advanced Materials Research, Vols. 468-471, pp. 1710-1713, 2012

Online since:

February 2012




[1] Kapti Akin O and Yucenur M Sait, Design and control of an active artificial knee joint, Mechanism and Machine Theory, vol. 41(2006), pp.1477-1485.


[2] Sup F, Bohara A, and Goldfarb M, Design and Control of a Powered Transfemoral Prosthesis, The International Journal of Robotics Research, Vol. 27(2008), pp.263-273.


[3] R. Unal, S.M. Behrens, R. Carloni, E.E.G. Hekman, S. Stramigioli and H.F.J. MKoopman, Prototype Design and Realization of an Innovative Energy Efficient Transfemoral Prosthesis, IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics(2010).


[4] Xin Guo, Peng Yang, Lingling Chen, Xitai Wang and Lifeng Li, Study of the Control Mechanism of Robot-Prosthesis Based-on the EMG Processed, Proceedings of the 6th World Congress on Control and Automation(2006), pp.9490-9493.


[5] J.K. Ryu, N.Y. Chong, B.J. You, and H. Christensen. Adaptive CPG based coordinated control of healthy and robotic lower limb movements. In The 18th IEEE International Symposium on Robot and Human Interactive Communication(2009), pp.122-127.


[6] G.L. Liu, M.K. Habib, K. Watanabe, and K. Izumi. Central pattern generators based on Matsuoka oscillators for the locomotion of biped robots. Arti_cial Life and Robotics, vol. 12(2008), pp.264-269.