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.
Highlights
The rapid development of science and technology has greatly changed the production and lifestyle of human society
The results show that the algorithm designed by the support vector machine (SVM) has a high road condition recognition ability, reaching more than 99% in the stance phase
A new MR prosthetic knee joint using an MR damper as the brake is designed, and a dynamic model is established according to the gait data of healthy people walking on flat ground
Summary
The rapid development of science and technology has greatly changed the production and lifestyle of human society. Active prostheses can simulate normal human knee joint movement, and they are mainly oriented to the high-end market They have the disadvantages of complex structure, cumbersome control and low stability [6,7]. Aiming at the influence of the hysteresis effect of the MR damper on the swing angle of the MR prosthesis, Fu [20] designed a sliding mode trajectory tracking control (SMTC), and the simulation results illustrate that the SMTC controller had a good control effect and robustness for knee joint swing. To solve the problem of parameter uncertainty and strong coupling, Fang et al [22] devised an adaptive robust force/position control algorithm that makes use of time delay estimation technology, sliding mode control and a fuzzy neural network to achieve finite-time convergence and gait tracking. To solve the uncertainties and the existence of external interference in the MR prosthetic knee joint system, a second-order sliding mode trajectory tracking control method is proposed, and the built MR prosthetic knee joint control system is used to test and analyze its control effect on the swing angle of the knee joint
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