The knee joint design and control of above-knee intelligent bionic leg based on magneto-rheological damper |
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Authors: | Hua-Long Xie Ze-Zhong Liang Fei Li Li-Xin Guo |
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Affiliation: | [1]School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110004, PRC [2]School of Information Science and Engineering, Shenyang University of Technology, Shenyang 110178, PRC |
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Abstract: | The above-knee intelligent bionic leg is very helpful to amputees in the area of rehabilitation medicine. This paper first introduces the functional demand of the above-knee prosthesis design. Then, the advantages of the four-bar link mechanism and the magneto-rheological (MR) damper are analyzed in detail. The fixed position of the MR damper is optimized and a virtual prototype of knee joint is given. In the end, the system model of kinematics, dynamics, and controller are given and a control experiment is performed. The control experiment indicates that the intelligent bionic leg with multi-axis knee is able to realize gait tracking of the amputee's healthy leg based on semi-active control of the MR damper. |
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Keywords: | Knee joint above-knee intelligent bionic leg magneto-theological damper |
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