scholarly journals Design and Trajectory Tracking Control of a Magnetorheological Prosthetic Knee Joint

2021 ◽  
Vol 11 (18) ◽  
pp. 8305
Author(s):  
Qiang Zuo ◽  
Jinpeng Zhao ◽  
Xin Mei ◽  
Feng Yi ◽  
Guoliang Hu
Keyword(s):  
Knee Joint ◽  
Sliding Mode ◽  
Mr Damper ◽  
Experimental Tests ◽  
Trajectory Tracking Control ◽  
External Interference ◽  
Prosthetic Knee ◽  
System A ◽  
Mechanical Models ◽  
Prosthetic Knee Joint

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.

scholarly journals A novel prosthetic knee joint with a parallel spring and damping mechanism

2016 ◽  
Vol 13 (4) ◽  
pp. 172988141665817 ◽  
Author(s):  
Huiqun Fu ◽  
Xiufeng Zhang ◽  
Xitai Wang ◽  
Rong Yang ◽  
Jian Li ◽  
...  
Keyword(s):  
Knee Joint ◽  
Prosthetic Knee ◽  
Prosthetic Knee Joint

Study of Hydraulic Servo System Based on Fuzzy Sliding Mode Algorithm

2013 ◽  
Vol 753-755 ◽  
pp. 2674-2678
Author(s):  
Kun Yang ◽  
Cai Jun Liu ◽  
Shu Min Liu
Keyword(s):  
Control Algorithm ◽  
Sliding Mode ◽  
Servo System ◽  
Time Varying ◽  
External Interference ◽  
System A ◽  
Hydraulic Servo ◽  
Fuzzy Sliding Mode ◽  
Hydraulic Servo System ◽  
Position Servo

Based on the situation that the hydraulic position servo system is easily influenced by the external interference and the parameters of which are different with time-varying, the fuzzy control can soften the buffeting and the sliding algorithm has no the same problems as the hydraulic position servo system, a brandly-new fuzzy sliding control algorithm is designed. In the simulation process, within the parameters of simulated time-varying and outside strong interference, the results show that the hydraulic servo system based on fuzzy sliding mode control algorithm has a greater resistance to internal and external interference and time-varying parameters.

Chronic septic arthritis and osteomyelitis in a prosthetic knee joint due toClostridium difficile

1995 ◽  
Vol 14 (7) ◽  
pp. 599-601 ◽  
Author(s):  
B. Pron ◽  
J. Merckx ◽  
P. Touzet ◽  
A. Ferroni ◽  
C. Poyart ◽  
...  
Keyword(s):  
Knee Joint ◽  
Septic Arthritis ◽  
Prosthetic Knee ◽  
Prosthetic Knee Joint

KINETOSTATIC ANALYSIS FOR FOUR-BAR LINKAGE MECHANISM OF PROSTHETIC KNEE JOINT

2019 ◽  
Vol 19 (04) ◽  
pp. 1950018 ◽  
Author(s):  
XUHUI LIU ◽  
TIANTIAN GUO ◽  
JIAHAO ZHANG ◽  
GUANG YANG ◽  
LUCHAN SUN ◽  
...  
Keyword(s):  
Knee Joint ◽  
Group Method ◽  
Linkage Mechanism ◽  
Analysis Software ◽  
Prosthetic Knee ◽  
Damping Effect ◽  
D’Alembert Principle ◽  
Prosthetic Knee Joint ◽  
Four Bar Linkage ◽  
The Relationship

In this paper, a mathematical model of four-bar linkage mechanism is built to investigate the prosthetic knee joint, by means of the bar group method, and the motion of the prosthetic knee joint is simulated by motion analysis software. In the state of motion of the four linkage mechanism, to the moving component of the mechanism, the relationship between the moving displacement, velocity and acceleration are obtained. On the basis of the above investigation, dynamic statics analysis for the moving component of four-bar linkage mechanism are completed by the ‘D’Alembert principle. The research results show that, with the change of the rotating angle of the active part, the counter-force of rotating pair and the balance torque on active component are all changeable, which will provide a theoretical basis for the design of prosthetic knee joint mechanism with longer life and better damping effect.

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