Design and Experimental Analysis of a Biomedical Prosthetic Knee With Magnetorheological Fluid

2015 ◽  
Author(s):  
The Nguyen ◽  
Alan Suarez ◽  
Saurabh Bapat
Keyword(s):  
Smart Materials ◽  
Theoretical Models ◽  
Magnetorheological Fluid ◽  
Gap Size ◽  
Electric Motors ◽  
Mr Fluid ◽  
Prosthetic Knee ◽  
The Family ◽  
Braking Torque ◽  
Improved Design

Current prosthetic legs rely on technology that is inefficient. Electric motors used today require high amounts of current to operate. Prostheses utilizing smart materials, including magnetorheological fluid (MRF), require less power to operate effectively. In this study, the MR fluid knee was designed for above the knee amputees. The design was in the family of MR fluid brake/clutch as it provides simple design and good MR fluid uniformity. However, this MR knee design is different from any existing MR brake, featuring a novel non-circular rotor. Three fourths of the rotor, considered circular, has the same radius, and the remaining quarter has a varying radius to provide a variable gap size between the rotor and stator. This feature allows the MR fluid to experience a stronger magnetic field as the knee rotates, resulting in a variable braking torque. At this stage of research, the first working prototype of the proposed MR fluid knee was built and tested to determine the braking torque profile. Corresponding theoretical models were also created. The calculated torque was used to predict the performance of the MRF knee. The experiments has been conducted to examine the MRF knee performance and to compare with the theoretical model. The knee was expected to use less power to operate and provided the necessary braking torque required by an average male human body. An improved design was planned for weight reduction and optimization to allow the commercialization of the MRF knee.

Modelling of a Magnetorheological Fluid Knee in a Prosthetic Leg

2016 ◽  
Author(s):  
The Nguyen ◽  
Saurabh Bapat ◽  
Xinli Wang
Keyword(s):  
Magnetic Field ◽  
Experimental Data ◽  
Theoretical Model ◽  
Theoretical Data ◽  
Magnetorheological Fluid ◽  
Theoretical Modelling ◽  
Gap Size ◽  
Applied Current ◽  
Prosthetic Knee ◽  
Braking Torque

The purpose of the study is to theoretically model a prosthetic knee. A knee similar to magnetorheological fluid (MRF) brake is designed and the study focuses on modelling the MRF knee, predict the torque and compare it with the experimental data. The torque generated by the MRF knee is highly dependent on the gap size, angle, and the applied current. Here, the MRF knee features a non-circular rotor which results in a variable gap size for the MR fluid, between the stator and the rotor. Therefore, the gap size varies with the angle of the knee. When the current is applied and MR knee is subjected to a magnetic field, the yield stress produces the shear friction due to which the braking torque is generated. This derives the braking torque as a function of angle and applied current. A torque equation is derived from the theoretical data to yield the predicted results. In addition to the theoretical modelling and derived torque equations, the torque for the MRF fluid is also calculated experimentally. For the validation of the theoretical model and the derived torque equations, they were compared with the experimental results.

A Multi-Objective Design Optimization of a Smart Magneto-Rheological Prosthetic Knee

2009 ◽  
Author(s):  
Ketill H. Gudmundsson ◽  
Fjola Jonsdottir ◽  
Freygardur Thorsteinsson
Keyword(s):  
Design Optimization ◽  
Optimization Techniques ◽  
Design Parameters ◽  
Valuable Insight ◽  
Mr Fluid ◽  
Prosthetic Knee ◽  
Multi Objective ◽  
Trade Offs ◽  
Braking Torque ◽  
Magneto Rheological

Magneto-rheological (MR) fluids have been successfully introduced to prosthetic devices. One such a device is a biomechanical prosthetic knee joint that uses a MR fluid to actively control its rotary stiffness while an amputee walks. The knee is a synergy of artificial intelligence, advanced sensors and MR actuator technology. The MR fluid has response time in the order of milliseconds, making it possible to vary the knee’s stiffness in real-time, depending on sensors data. The focus of this paper is on the design of the magnetic circuit of the actuator and on the geometry of the fluid chamber. The paper describes the function of the MR rotary actuator and shows how design optimization techniques can aid in the development of the actuator. The design is optimized, with respect to three important design objectives. These objectives are: the maximum obtainable field-induced braking torque, the minimum obtainable rotary damping in the absence of a magnetic field, and the weight of the actuator. Multi-objective design optimization techniques are presented and applied to the prosthetic knee actuator design problem. Trade-offs between design objectives are investigated giving valuable information on the development of the actuator. Maximizing the field-induced braking torque is important for the knee to be capable of supporting heavy amputees. Minimizing the off-state stiffness is important for fast movements of the knee, in load-free movements. Furthermore, minimizing the weight of the actuator is important for allowing heavy components like batteries to be installed. It is realized that these design objectives can not be addressed separately and to some extend, the design goals are contradictory. Mathematical models are presented that describe the design objectives as a function of selected design parameters. Determining the field-induced braking torque requires a magnetic finite element analysis, to evaluate the magnetic flux density in the MR fluid, and the shear-yield stress curve of the MR fluid. Evaluating the off-state stiffness requires the off-state viscosity of the MR fluid, along with friction in bearings and oil seals. The models are based on rheological measurements of the MR fluid employed in the knee. Evaluating the weight of the actuator requires the geometry of the actuator and the density of its materials. The optimization is restricted by practical manufacturing design constraints. Mapping the dependency between the maximum torque, the minimum damping, and the weight of the MR actuator gives valuable insight into the design of the prosthetic knee actuator.

Dynamic characteristics of squeeze-type mount using magnetorheological fluid

2005 ◽  
Vol 219 (1) ◽  
pp. 27-34 ◽  
Author(s):  
Y K Ahn ◽  
J-Y Ha ◽  
Y-H Kim ◽  
B-S Yang ◽  
M Ahmadian ◽  
...  
Keyword(s):  
Dynamic Characteristics ◽  
Experimental Analysis ◽  
Vibration Isolation ◽  
Dynamic Behaviour ◽  
Electrical Current ◽  
Magnetorheological Fluid ◽  
Test Set ◽  
Mr Fluid ◽  
Set Up ◽  
Stiffness And Damping

This paper presents an analytical and experimental analysis of the characteristics of a squeeze-type magnetorheological (MR) mount which can be used for various vibration isolation areas. The concept of the squeeze-type mount and details of the design of a squeeze-type MR mount are discussed. These are followed by a detailed description of the test set-up for evaluating the dynamic behaviour of the mount. A series of tests was conducted on the prototype mount built for this study, in order to characterize the changes occurring as a result of changing electrical current to the mount. The results of this study show that increasing electrical current to the mount, which increases the yield stress of the MR fluid, will result in an increase in both stiffness and damping of the mount. The results also show that the mount hysteresis increases with increase in current to the MR fluid, causing changes in stiffness and damping at different input frequencies.

scholarly journals Squeezing Force of the Magnetorheological Fluid Isolating Damper for Centrifugal Fan in Nuclear Power Plant

2012 ◽  
Vol 2012 ◽  
pp. 1-6 ◽  
Author(s):  
Jin Huang ◽  
Ping Wang ◽  
Guochao Wang
Keyword(s):  
Nuclear Power ◽  
Theoretical Foundation ◽  
Fluid Dynamic ◽  
Flow Behavior ◽  
Magnetorheological Fluid ◽  
Centrifugal Fan ◽  
Parallel Channel ◽  
Mr Fluid ◽  
Mr Fluids ◽  
Control Devices

Magnetorheological (MR) disk-type isolating dampers are the semi-active control devices that use MR fluids to produce controllable squeezing force. In this paper, the analytical endeavor into the fluid dynamic modeling of an MR isolating damper is reported. The velocity and pressure distribution of an MR fluid operating in an axisymmetric squeeze model are analytically solved using a biviscosity constitutive model. Analytical solutions for the flow behavior of MR fluid flowing through the parallel channel are obtained. The equation for the squeezing force is derived to provide the theoretical foundation for the design of the isolating damper. The result shows that with the increase of the applied magnetic field strength, the squeezing force is increased.

Simulation and experimentation of a magnetorheological brake with adjustable gap

2016 ◽  
Vol 28 (12) ◽  
pp. 1614-1626 ◽  
Author(s):  
Wan-Li Song ◽  
Dong-Heng Li ◽  
Yan Tao ◽  
Na Wang ◽  
Shi-Chao Xiu
Keyword(s):  
Magnetorheological Fluid ◽  
Structure Design ◽  
Experimental Results ◽  
Wear Property ◽  
Braking Performance ◽  
Braking Torque ◽  
The Difference ◽  
The Impact ◽  
Theoretical Analyses ◽  
Magnetostatic Simulation

The aim of this work is to investigate the effect of the small magnetorheological fluid gap on the braking performance of the magnetorheological brake. In this article, theoretical analyses of the output torque are given first, and then the operating principle and design details of the magnetorheological brake whose magnetorheological fluid gap can be altered are presented and discussed. Next, the magnetic circuit of the proposed magnetorheological brake is conducted and further followed by a magnetostatic simulation of the magnetorheological brakes with different sizes of fluid gap. A prototype of the magnetorheological brake is fabricated and a series of tests are carried out to evaluate the braking performance and torque stability, as well as the verification of the simulation results. Experimental results show that the braking torque increases with the increase in the current, and the difference for the impact of the fluid gap on braking performance is huge under different currents. The rules, which the experimental results show, have an important significance on both the improvement of structure design for magnetorheological brake and the investigation of the wear property under different fluid gaps.

A new high-torque retarder based on combined effects of magnetorheological fluid and eddy current

2018 ◽  
Vol 30 (2) ◽  
pp. 256-271 ◽  
Author(s):  
Hui Huang ◽  
Shumei Chen ◽  
Cheng Wang
Keyword(s):  
Eddy Current ◽  
Material Selection ◽  
Magnetorheological Fluid ◽  
Experimental Result ◽  
Element Analysis ◽  
Operating Concept ◽  
Braking Torque ◽  
High Torque ◽  
The Magnetic Field ◽  
Excitation Circuit

In this article, a new high-torque retarder combining the effects of magnetorheological fluid and eddy current is researched. The new retarder provides a part of the braking torque generated by the shear stress of the magnetorheological fluid and an additional braking torque generated by the effect of the eddy current on the rotors. This operating concept is realized by a common magnetic excitation circuit generated by a new structure with several separated coils. The configurations and design details of the new retarder, including the structure, material selection, and magnetic circuit, are discussed. The mathematical models of braking torque caused by the magnetorheological fluid and eddy current are also derived. Then, a finite element analysis is performed to verify the magnetic field design of the new retarder. Finally, a prototype is fabricated, and the relevant parameters are tested. The experimental result shows that the new retarder provides not only a stable braking torque at low speed but also a great increment of braking torque varied with rotation speed, which effectively improves the total braking torque compared with conventional magnetorheological retarders.

Wear Behavior of Rotary Lip Seal Operating in a Magnetorheological Fluid Under Magnetic Field Conditions

2017 ◽  
Vol 140 (2) ◽  
Author(s):  
Peng Zhang ◽  
Kwang-Hee Lee ◽  
Chul-Hee Lee
Keyword(s):  
Magnetic Field ◽  
Smart Materials ◽  
Wear Behavior ◽  
High Volume ◽  
Magnetorheological Fluid ◽  
Engine Oil ◽  
Wear Properties ◽  
Lip Seal ◽  
Sealing Performance ◽  
Stiffness And Damping

A magnetorheological fluid (MRF) is one of many smart materials that can be changed their rheological properties. The stiffness and damping characteristics of MRF can be changed when a magnetic field is applied. This technology has been successfully employed in various low and high volume applications, such as dampers, clutches, and active bearings, which are already in the market or are approaching production. As a result, the sealing performance of MRF has become increasingly important. In this study, the wear properties of seals with MRFs were evaluated by a rotary-type lip seal wear tester. The test was performed with and without a magnetic field. The leakage time was monitored during the tests in typical engine oil conditions. The results showed that the wear resistance of the seal with MRF was decreased under the magnetic field.

Experimental studies on magnetorheological brake containing plane, holed and slotted discs

2017 ◽  
Vol 69 (2) ◽  
pp. 116-122 ◽  
Author(s):  
Chiranjit Sarkar ◽  
Harish Hirani
Keyword(s):  
Experimental Studies ◽  
State Condition ◽  
Frictional Torque ◽  
Iron Particles ◽  
Low Friction ◽  
Mr Fluid ◽  
Content Type ◽  
Shear Rates ◽  
Mr Fluids ◽  
Braking Torque

Purpose This study aims to design an ideal magnetorheological (MR) brake that exerts negligible frictional torque in the off-state condition and controllable frictional torque in the on-state condition. Design/methodology/approach Silicone-based MR fluid, containing 9 per cent volume carbonyl iron particles, has been synthesized and used. The synthesized MR fluid is advantageous in maintaining low friction losses in off-state conditions. A magneto-rheometer has been utilized to characterize the off-state viscosity of the MR fluid at variable shear rates and shear stress of MR fluids at various magnetic fields. A mechanism to enhance the braking torque in the on-state condition has been designed and developed. An experimental test rig has been developed to capture the torque characteristics of the developed MR brakes. Three different designs of MR discs have been experimented under a magnetic field varying from 0 to 375 kA/m. Experimental results of braking torque under shear and compression modes have been presented. Findings Slotted disc MR brake gives much better torque performance. Originality/value The braking torque results motivate to use the slotted disc MR brake for high torque application.

Thermal and tribological performance of graphite flake based magnetorheological fluid under shear mode clutch

2021 ◽  
pp. 1-24
Author(s):  
Manish Kumar Thakur ◽  
Chiranjit Sarkar
Keyword(s):  
Research Work ◽  
Magnetorheological Fluid ◽  
Tribological Performance ◽  
Graphite Flake ◽  
Shear Mode ◽  
Torque Sensor ◽  
Test Rig ◽  
Mr Fluid ◽  
Mr Fluids ◽  
Torque Transmission

Abstract In this research work, graphite flake has been used as an additive in magnetorheological (MR) fluid to improve its thermal and tribological performance. MR fluids with varying amounts of graphite flakes (0.5, 1, 2, 3, 4, and 5 wt%) are prepared to show effective thermal and tribological performance. A test rig is developed with a DC motor, torque sensor, and MR clutch operated in a shear mode to test the torque transmission. Results show the lubrication effects of graphite flakes in MR fluid. Torque transmission is improved in on-state and off-state using graphite flakes based MR fluid as compared to conventional MR fluid. Heating of MR clutch is also reduced with the graphite flakes based MR fluid. Wear marks and damages are decreased significantly with the increased amount of graphite flakes as found in surface roughness tests. SEM and EDS are used to characterize the worn surfaces. This research provides information about the effectiveness of graphite flakes in the MR clutch to improve the device's performance.

Influence of Permanent Magnets Installation Approach on the Torque of а Magneto-Rheological Disk Brake

2021 ◽  
Vol 105 ◽  
pp. 184-193
Author(s):  
Ilya Aleksandrovich Frolov ◽  
Andrei Aleksandrovich Vorotnikov ◽  
Semyon Viktorovich Bushuev ◽  
Elena Alekseevna Melnichenko ◽  
Yuri Viktorovich Poduraev
Keyword(s):  
Magnetic Field ◽  
Magnetic Fields ◽  
Magnetic Materials ◽  
Permanent Magnets ◽  
Magnetorheological Fluid ◽  
Simulation Modelling ◽  
Disc Brake ◽  
Large Area ◽  
Braking Torque ◽  
The Magnetic Field

Magnetorheological braking devices function due to the organization of domain structures between liquid and solid magnetic materials under the action of an electromagnetic or magnetic field. The disc is most widely used as a rotating braking element that made of a solid magnetic material due to the large area of contact with a magnetorheological fluid. Many factors affect the braking characteristics of the magnetorheological disc brake. Specifically, the value of the magnetic field and how the field is distributed across the work element is significantly affected at the braking torque. There are different ways to generate a magnetic field. In this study, the method of installation of permanent magnets into the construction, allowing to increase the braking torque of the magnetorheological disc brake is proposed. Simulation modelling showing the distribution of the magnetic field across the disk depending on the installation of permanent magnets with different pole orientations were carried out. The model takes into account the possibility of increasing the gap between solid magnetic materials of the structure, inside them which the magnetorheological fluid is placed. Comparative estimation of the distribution of the magnetic fields depending on the chosen method of installation of permanent magnets with different orientations of their poles is carried out. Further research is planned to focus on a comparative assessment of the distribution of magnetic fields depending on the selected material of the braking chamber.

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