Abstract
In the research and development of intelligent prosthesis, some of performance test experiments are required. In order to provide an ideal experimental platform for the performance test of intelligent prosthesis, a heterogeneous biped walking robot model is proposed. Artificial leg is an important part of heterogeneous biped walking robot, and its main function is to simulate the disabled a healthy normal gait, which provides intelligent bionic legs gait to follow the target trajectory. The pneumatic artificial muscles (PAM) have good application in the artificial leg. The bionic design of artificial leg mainly includes the structure of hip joint, knee joint, and ankle joint, adopting the four-bar mechanism as the mechanical structure of the knee joint, and PAM are used as the driving source of the knee joint. Secondly, the PAM performance test platform is built to establish the relationship among output force, shrinkage rate, and input pressure under the measured isobaric conditions, and the mathematical model of PAM is established. Finally, the virtual prototype technology is used to build a joint simulation platform, and PID control algorithm is used for verification simulation. The results show that the artificial leg can follow the target trajectory.
Highlights
In order to provide convenience for lower limb amputees, intelligent prosthetics are used to replace disabled limbs in the field of biological rehabilitation, and the development and research of intelligent prosthetics require ideal artificial legs [1]
Erefore, pneumatic artificial muscle is adopted as the driving device of the knee joint, combining the research of humanoid robot and intelligent prosthesis to study the artificial leg in the walking robot mode of heterogeneous legs [3] and make it simulate the gait of healthy legs of disabled people
The four-bar mechanism is used as the structure design of knee joint, and the structure of the artificial leg is synthetically designed
Summary
In order to provide convenience for lower limb amputees, intelligent prosthetics are used to replace disabled limbs in the field of biological rehabilitation, and the development and research of intelligent prosthetics require ideal artificial legs [1]. Pneumatic device drive is mainly used for joint position control, and the requirement of sealing cylinder is high. As a new type of pneumatic component, PAM has the advantages of simple structure, good flexibility, large output force, light weight, and similar mechanical properties to biological muscle [2]. Erefore, pneumatic artificial muscle is adopted as the driving device of the knee joint, combining the research of humanoid robot and intelligent prosthesis to study the artificial leg in the walking robot mode of heterogeneous legs [3] and make it simulate the gait of healthy legs of disabled people. Journal of Robotics based modeling is the most common type It has many advantages, such as large-scale parallel processing, the distributed storage of knowledge, and a strong self-learning capability. Simulation of virtual prototype of artificial leg is verified, and conclusion is drawn through experimental research
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