The Knee Joint Design and Control of Above-knee Intelligent Bionic Leg Based on Magneto-rheological Damper

被引：7
|
作者：
Hua-Long Xie 1 Ze-Zhong Liang 1 Fei Li 2 Li-Xin Guo 1 1 School of Mechanical Engineering and Automation
机构：
来源：
International Journal of Automation & Computing | 2010年 / 7卷 / 03期
基金：
中国博士后科学基金;
关键词：
Knee joint; above-knee intelligent bionic leg; magneto-rheological damper;
D O I：
暂无
中图分类号：
R318.0 [一般性问题];
学科分类号：
摘要：
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.
引用
收藏
页码：277 / 282
页数：6
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