Journal
SMART MATERIALS AND STRUCTURES
Volume 25, Issue 8, Pages -Publisher
IOP PUBLISHING LTD
DOI: 10.1088/0964-1726/25/8/085009
Keywords
magneto-rheological fluid; prosthetic leg; above-knee amputees; MR damper; joint angle control
Funding
- National Research Foundation of Korea (NRF) grant - Korea government (MEST) [2015R1A2A1A5054000]
- National Research Foundation of Korea [2015R1A2A1A15054000] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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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 proportionalderivative 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.
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