System modeling and control of intelligent bionic leg

摘要：

Intelligent bionic legs (IBL) controlled by magneto-rheological (MR) damper is an advanced prosthesis.This paper first introduces the conception,research purpose and configuration of intelligent bionic leg.Then kinematics model and dynamics model are deduced in detail.Modified sigmoid model of MR damper is given.In the end,control model of intelligent bionic leg is discussed and combined control simulation is done.The result indicates that intelligent bionic leg controlled by MR damper can track human normal gait well.

关键词： intelligent bionic leg magneto-rheological damper system modeling gait tracking

作者: Hua-long Xie Yu Zhang Yong-xian Liu

作者单位: School of Mechanical Engineering & Automation,Northeastern University,Liaoning Province,China

会议类型: 国际会议

会议名称: International Conference on Modelling,Identification and Control(模拟、鉴定、控制国际会议)

会议地点: 上海

会议语种:英文

在线出版日期: 2008-06-29（万方平台首次上网日期，不代表论文的发表时间）