Design and Trajectory Tracking Control of a Magnetorheological Prosthetic Knee Joint
Source abstract
Abstract
This paper developed a new magnetorheological (MR) prosthetic knee joint using an MR damper as the brake. According to the gait data of healthy people walking on flat ground, the structure of a MR prosthetic knee joint was expounded in detail, and its motion and dynamic model was also established. In addition, an MR damper was developed according to the specific needs of an MR prosthesis. The forward and reverse mechanical models of the MR damper were established, and its damping performance was obtained through experimental tests. In addition, to solve the problems of uncertainty and external interference in the MR prosthetic knee joint system, a second-order sliding mode controller was proposed. The experimental test results show the maximum positive error of the knee joint swing trajectory is 9.4°, which effectively tracks the reference swing trajectory.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Prosthetics and Rehabilitation Robotics · Muscle activation and electromyography studies · Dielectric materials and actuators
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Mechatronics, School of Engineering, Zhejiang University City College, Hangzhou 310015, China
Key Laboratory of Conveyance and Equipment, Ministry of Education, East China Jiaotong University, Nanchang 330013, China
Funding
National Natural Science Foundation of China · Key Projects of Hangzhou Agricultural and Social Development Research Program · Zhejiang Province Basic Public Welfare Research Project
References (25)
Show source-provided references
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