Abstract
In order to improve biomimicry, a four-bar linkage prosthetic knee with magnetorheological (MR) damper was developed in this paper. The principle and structure of four-bar linkage MR prosthetic knee was introduced and its kinetic model was established. A MR damper matching the proposed prosthetic knee was designed, fabricated and tested, and the forward and inverse mechanical model were conducted. In addition, to solve the problems of complex model, poor bionics and low trajectory tracking accuracy in the MR prosthetic knee, a PD-type iterative learning control (ILC) controller was developed. The simulated and experimental test results show that the positive maximum error of the knee joint swing trajectory based on PD-type ILC controller are 2.2°(speed of 0.5 m/s), 4.1°(speed of 1.0 m/s), and 1.9°(speed of 1.5 m/s), respectively, and the negative maximum error of that are −1.4°(speed of 0.5 m/s), −6.7°(speed of 1.0 m/s), and −5.5°(speed of 1.5 m/s), respectively, which effectively tracks the reference swing trajectory.
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