The Simulation Research of Above Knee Intelligent Prosthesis Based on Computed Torque

摘要：

The above knee (A/K) intelligent prosthesis controlled by magneto-rheological (MR) damper can compensate the basic movement function of amputees. This paper analyzed the existing torque devices of knee joint and introduced the configuration of A/K intelligent prosthesis controlled by MR damper. Dynamics model was given and virtual prototype was established. The control method based on computed torque was discussed and combined control simulation was done. The result indicates that A/K intelligent prosthesis controlled by MR damper can track human normal gait well.

关键词： Above knee intelligent prosthesis Computed torque Dynamics modeling

作者: Hualong Xie ZongXiao Zhu Wenke Zhang Fei Li

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

会议类型: 国际会议

会议名称: 2011 International Conference on Advanced Materials and Engineering Materials(2011先进材料与工程材料国际会议 ICAMEM 2011)

会议地点: 沈阳

会议语种:英文

页码: 65-68

在线出版日期: 2011-11-22（万方平台首次上网日期，不代表论文的发表时间）