Title: System modelling and control of an intelligent bionic leg

Authors: Hualong Xie; Yu Zhang; Lixin Guo; Yongxian Liu

Addresses: School of Mechanical Engineering & Automation, Northeastern University, Shenyang 110004, China. ' School of Mechanical Engineering & Automation, Northeastern University, Shenyang 110004, China. ' School of Mechanical Engineering & Automation, Northeastern University, Shenyang 110004, China. ' School of Mechanical Engineering & Automation, Northeastern University, Shenyang 110004, China

Abstract: Intelligent bionic leg (IBL) controlled by magneto-rheological (MR) damper is an advanced prosthesis. This paper introduced the conception, research purpose and configuration of IBL. Kinematics model and dynamics model were deduced in detail and modified sigmoid model of MR damper was proposed. Then control model of IBL was discussed and combined control simulation was performed. The result indicates that IBL controlled by MR damper can track human normal gait well.

Keywords: IBL; intelligent bionic legs; magnetorheological damping; system modelling; gait tracking; advanced prostheses; prosthetic legs; kinematics; dynamics; kinematic modelling; dynamic modelling.

DOI: 10.1504/IJCAT.2011.042703

International Journal of Computer Applications in Technology, 2011 Vol.41 No.3/4, pp.275 - 280

Available online: 25 Sep 2011 *

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