Abstract: A damping control method for a lower-limb prosthesis, comprising the following steps: isolate the driving motor of the lower-limb prosthesis from the driving voltage; the driving motor is driven to rotate by the force that results from locomotion of a human's CoM (Center of Mass), and generates an alternating induced voltage, when the driving motor behaves as a generator; connect output terminals of the driving motor with a full-bridge rectification circuit that is made of Schottky diodes to transform the alternating induced voltage to a direct-current voltage; connect the output terminals of the full-bridge rectification circuit with a controlled switch to form a closed circuit, which will generate induced current from the induced voltage; control the on-off ratio of the controlled switch with a Pulse-Width-Modulation signal to generate a controllable motor current, which will result in controllable braking torque under the magnet field of the driving motor.

Abstract: A non-contact capacitive sensing system for robotic lower-limb prosthesis, comprising a sensing front end, a signal sampling unit and a signal processing unit. The sensing front end is composed of capacitance electrodes inside the prosthetic socket, and the capacitance electrodes locate between the prosthetic socket and the stump sock. Each capacitance electrode forms a capacitor with the human body. The signal sampling unit is composed of the CTD module and the control module. The CTD module measures capacitance values by calculating the ratio of discharge-and-recharge cycles between the under-test capacitors and the reference capacitor. The signal processing unit comprises the filter module and the communication module. The capacitive sensing system is highly repeatable in signals, resistant to sweat, and reliably dressed on a human body. The system performs well regardless of residual limb length and residual muscle strength. It can be widely used in the field of robotic lower-limb prosthesis.

Abstract: A damping control method for lower-limb prosthesis, comprising the following steps: Isolate the driving motor of the transmission structure from the driving voltage; The motor is driven to rotate by the force that results from the locomotion of human's CoM (Center of Mass), and generates alternating induced voltage, when the motor behaves as a generator; Connect the output terminals of the motor with a full-bridge rectification circuit that is made of Schottky diodes to transform the alternating induced voltage to direct-current voltage; Connect the output terminals of the rectification circuit with a controlled switch to form a closed circuit, which will generate induced current from the induced voltage; Control the on-off ratio of the switch with the Pulse-Width-Modulation signal to generate controllable motor current, which will result in controllable braking torque under the magnet field of the motor. This invention can be applied to prosthesis control.

Abstract: A non-contact capacitive sensing system for robotic lower-limb prosthesis, comprising a sensing front end, a signal sampling unit and a signal processing unit. The sensing front end is composed of capacitance electrodes inside the prosthetic socket, and the capacitance electrodes locate between the prosthetic socket and the stump sock. Each capacitance electrode forms a capacitor with the human body. The signal sampling unit is composed of the CTD module and the control module. The CTD module measures capacitance values by calculating the ratio of discharge-and-recharge cycles between the under-test capacitors and the reference capacitor. The signal processing unit comprises the filter module and the communication module. The capacitive sensing system is highly repeatable in signals, resistant to sweat, and reliably dressed on a human body. The system performs well regardless of residual limb length and residual muscle strength. It can be widely used in the field of robotic lower-limb prosthesis.