The Gait System Research of Intelligent Bionic Leg

摘要：

Intelligent bionic legs (IBL) controlled by magneto-rheological (MR) damper is an advanced prosthesis. The conception, research purpose and configuration of intelligent bionic leg were introduced. Gait description of human normal gait is detailed using analysis method of finite state machine (FMS). By information gained from six-axis force sensor, the gait perception method of typical gait events and gait states is discussed. The detection of real zero moment point (ZMP) was analyzed and on-line gait adjustment was discussed. In the last, control experiment of gait tracking was done.

关键词： Intelligent bionic leg Finite state machine Siz-azis force sensor gait tracking

作者: Hualong Xie Fei Li Zhongqi Sheng Zhiwei Xu Yongxian Liu

作者单位: School of Mechanical Engineering & Automation, Northeastern University, Shenyang 110004, China School of Information Science & Engineering, Shenyang University of Technology, Shenyang 110178, Chi

会议类型: 国际会议

会议名称: 2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)

会议地点: 广西桂林

会议语种:英文

页码: 4623-4627

在线出版日期: 2009-06-17（万方平台首次上网日期，不代表论文的发表时间）