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

IF 4.9 3区计算机科学 Q1 ENGINEERING, MULTIDISCIPLINARY

Journal of Bionic Engineering Pub Date : 2024-05-30 DOI:10.1007/s42235-024-00535-1

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

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Abstract

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.

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膝关节假体磁流变阻尼器的设计、测试和控制

本研究旨在开发一种用于半主动膝关节假体的磁流变阻尼器，以恢复经股截肢者的行走能力。通过理论磁场计算确定了磁流变阻尼器的核心尺寸，并通过电磁模拟推导出电流与关节扭矩之间的理论关系。然后，制造出了装有磁共振减振器的半主动假膝实物原型。根据从假肢上的角度传感器、压力传感器（称重传感器）和惯性测量单元（IMU）获得的数据，开发了一种匹配控制算法。磁共振阻尼器的关节扭矩可根据截肢者的行走速度进行自适应调节，使截肢者实现自然步态。控制程序的有效性通过 ADAMS 和 MATLAB 协同仿真进行了验证。测试和仿真结果表明，磁共振阻尼器可以提供正常人体活动所需的足够扭矩。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Bionic Engineering 工程技术-材料科学：生物材料

CiteScore

7.10

自引率

10.00%

发文量

162

审稿时长

10.0 months

期刊介绍： The Journal of Bionic Engineering (JBE) is a peer-reviewed journal that publishes original research papers and reviews that apply the knowledge learned from nature and biological systems to solve concrete engineering problems. The topics that JBE covers include but are not limited to: Mechanisms, kinematical mechanics and control of animal locomotion, development of mobile robots with walking (running and crawling), swimming or flying abilities inspired by animal locomotion. Structures, morphologies, composition and physical properties of natural and biomaterials; fabrication of new materials mimicking the properties and functions of natural and biomaterials. Biomedical materials, artificial organs and tissue engineering for medical applications; rehabilitation equipment and devices. Development of bioinspired computation methods and artificial intelligence for engineering applications.