Özet:

In this study, the human walking movement is studied to develop electronic knee protection. The walking movement equations contained in the sources are derived on the basis of the robot arms and the accuracy of the equations is tested by making advanced solutions with the real walking data. Advanced solution comparisons have shown that the study of the walking movement equations can define the release stage of the walking but the ground reaction force is not taken into account in the position stage. By providing joint turns, a numerical comparison of the reverse solution of the walking movement equation for the finding of joint angles to be formed has been made. Using the reverse solution, a control roof that can be used in electronic knee protheses has been studied by the proportional derivative (OT) control method. By correcting the non-linear relationship between the turtle and corner, which is the entrance and exit of the knee system, a transfer function was created. It has been created a controlled knee joint system using the OT controller and this transfer function. The proportional and derivative gains that this system has a steady response to the step-in-step are determined by the reverse solution by manually adjusted. When real knee angles are entered into the designed system as a target value, it has been observed that the knee angle that the system produces can follow the target values. The results support the use of the OT control method with the electronic knee protection model and show the ease of the control parameters to be studied in a comparison environment.

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