Design,Testing and Control of a Magnetorheological Damper for Knee Prostheses  

作　　者：Hounan Song Yu Cao Wei Chen Lei Ren Yongxin Ma Kunyang Wang Xu Wang Yao Zhang Luquan Ren 

机构地区：[1]Key Laboratory of Bionic Engineering,Ministry of Education,Jilin University,Changchun,130022,People’s Republic of China [2]Department of Mechanical,Aerospace and Civil Engineering,The University of Manchester,Manchester,M139PL,UK

出　　处：《Journal of Bionic Engineering》2024年第4期1788-1800,共13页仿生工程学报（英文版）

基　　金：funded by Key Technologies Research and Development Program(2018YFC2001300);the Science and Technology Research Project of Educational Department of Jilin Province(JJKH20241259KJ);the National Natural Science Foundation of China(91948302,91848204,52021003);the Project of Scientific and Technological Development Plan of Jilin Province(20220508130RC).

摘　　要：This study aims to develop a magnetorheological(MR)damper for semi-active knee prostheses to restore the walking ability of transfemoral amputees.The core dimensions of the MR damper were determined via theoretical magnetic field calculations,and the theoretical relationship between current and joint torque was derived through electromagnetic simulation.Then,a physical prototype of the semi-active prosthetic knee equipped with the MR damper was manufactured.Based on the data obtained from angle sensor,pressure sensor(loadcell),and inertial measurement unit(IMU)on the prosthesis,a matching control algorithm is developed.The joint torque of the MR damper can be adaptively adjusted according to the walking speed of the amputee,allowing the amputee to realize a natural gait.The effectiveness of the control program was verified by the ADAMS and MATLAB co-simulation.The results of the test and simulation show that the MR damper can provide sufficient torque needed for normal human activities.

关 键 词：Semi-active knee prosthesis Magnetorheological damper Theoretical analysis ADAMS and MATLAB co-simulation 

分 类 号：R318[医药卫生—生物医学工程]