The estimation of joint angle ratios for healthy and afflicted subjects in characterizing the human gait has great significance in the development of limb prosthetics. The two dimensional analysis of human gait was performed and the ratio of hip to knee, knee to ankle, hip to ankle as well as the time taken for achieving a gait were determined. The percentage of affliction was computed based on the joint angle ratios and comparison was made with healthy gait. The joint ratios were fed as input to the driving system which comprises of six DC motors for the positioning of knee, hip and ankle during gait. Then different control strategies like P, PI and PID were tested. The t-test and ANOVA analysis were conducted between healthy, afflicted and PID controller to determine the significant difference between their joint angle ratios. The estimation of joint angle ratio improved the accuracy of the control system drive (desired position of knee, hip and ankle motors). The presence of oscillations in the output response was reduced for P and PI controllers. The implementation of PID controller eliminated the presence of peak overshoot and more settling time. Thus the joint angle ratio provides the best possible assistance to the disabled persons by appropriately compensating the affliction.

对健康和患病受试者进行关节步态表征的关节角比率的估计对于肢体假肢的发展具有重要意义。对人的步态进行了二维分析，确定了髋部与膝盖的比率，膝部与脚踝的比率，髋部与脚踝的比率以及达到步态所需的时间。根据关节角度比率计算患病百分比，并与健康步态进行比较。关节传动比作为输入输入驱动系统，该驱动系统由六个直流电动机组成，用于在步态中定位膝盖，臀部和脚踝。然后测试了不同的控制策略，如P，PI和PID。在健康，患病和PID控制器之间进行t检验和ANOVA分析，以确定它们的关节角比率之间的显着差异。关节角比率的估计提高了控制系统驱动的精度（膝盖，臀部和踝部电机的所需位置）。对于P和PI控制器，减少了输出响应中的振荡。PID控制器的实施消除了峰值超调和更长的建立时间。因此，关节角度比通过适当地补偿痛苦为残疾人提供了尽可能最好的帮助。