Design and control of a prosthetic leg for above-knee amputees operated in semi-active and active modes

This paper proposes a new prosthesis operated in two different modes; the semi-active and active modes. The semi-active mode is achieved from a flow mode magneto-rheological (MR) damper, while the active mode is obtained from an electronically commutated (EC) motor. The knee joint part of the above...

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Bibliographic Details
Published in:Smart materials and structures 2016-08, Vol.25 (8), p.85009-85021
Main Authors: Park, Jinhyuk, Yoon, Gun-Ha, Kang, Je-Won, Choi, Seung-Bok
Format: Article
Language:English
Subjects:
above-knee amputees
Active control
Dampers
Grounds
joint angle control
Knees
magneto-rheological fluid
Magnetorheological fluids
Motors
MR damper
prosthetic leg
Prosthetics
Surgical implants
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Summary:This paper proposes a new prosthesis operated in two different modes; the semi-active and active modes. The semi-active mode is achieved from a flow mode magneto-rheological (MR) damper, while the active mode is obtained from an electronically commutated (EC) motor. The knee joint part of the above knee prosthesis is equipped with the MR damper and EC motor. The MR damper generates reaction force by controlling the field-dependent yield stress of the MR fluid, while the EC motor actively controls the knee joint angle during gait cycle. In this work, the MR damper is designed as a two-end type flow mode mechanism without air chamber for compact size. On other hand, in order to predict desired knee joint angle to be controlled by EC motor, a polynomial prediction function using a statistical method is used. A nonlinear proportional-derivative controller integrated with the computed torque method is then designed and applied to both MR damper and EC motor to control the knee joint angle. It is demonstrated that the desired knee joint angle is well achieved in different walking velocities on the ground ground.
ISSN:0964-1726
1361-665X
DOI:10.1088/0964-1726/25/8/085009