A novel four-bar linkage prosthetic knee based on magnetorheological effect: principle, structure, simulation and control

Xu, Lei; Wang, Dai-Hua; Fu, Qiang; Gang, Yuan; Hu, Lei-Zi

doi:10.1088/0964-1726/25/11/115007

Cited by 33 publications

(25 citation statements)

References 11 publications

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“…The angle control approach is inherently not suitable for prostheses due to biomechanical reasons, as reported by Sup et al [ 37 ]. On the other hand, the torque control or tracking with state impedance control schemes, have already established its suitability in active prostheses [ 42 ], but its application in semi-active prostheses [ 43 ] may not be cautious enough as semi-active prostheses reported in [ 24 , 25 , 26 ] using an MR damper do not contribute to net propulsive power during walking. Its function still remains as a passive device with impedance or damping modulation despite torque control.…”

Section: Discussionmentioning

confidence: 99%

“…The authors used an MR knee prosthesis to adapt knee damping using local sensing of knee force, torque, and position. A few recent studies conducted by Xu et al [ 24 ], Park et al [ 25 ], and Fu et al [ 26 ] have also attempted to design a lower limb prosthesis based on an MR damper. Complex sensing, data-driven AI control and lack of local climatic adaptations as well as increased cost of the prosthesis arising from various factors ranging from non-inclusion of off-the-shelf components or locally manufactured components increased the inherent cost, making it unsuitable for applications in low-income economies.…”

Section: Prosthesis Designmentioning

confidence: 99%

“…Complex sensing, data-driven AI control and lack of local climatic adaptations as well as increased cost of the prosthesis arising from various factors ranging from non-inclusion of off-the-shelf components or locally manufactured components increased the inherent cost, making it unsuitable for applications in low-income economies. Further, the control architecture based on stiff tracking of the knee angle should be avoided in order to enable the amputee to use the prosthesis more interactively, rather than reacting to it [ 24 ]. Therefore, the potential of prostheses based on MR damper remain untapped in such low-income economies due to the unavailability, complexity, and incurring cost of design and manufacturing [ 20 , 23 , 27 ].…”

Section: Prosthesis Designmentioning

confidence: 99%

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An Affordable Insole-Sensor-Based Trans-Femoral Prosthesis for Normal Gait

Pandit

Godiyal

Vimal

et al. 2018

Sensors

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This paper proposes a novel and an affordable lower limb prosthesis to enable normal gait kinematics for trans-femoral amputees. The paper details the design of a passive prosthesis with magneto-rheological (MR) damping system and electronic control. A new control approach based on plantar insole feedback was employed here. Strategically placed sensors on the plantar insole provide required information about gait cycle to a finite state controller for suitable action. A proportional integral (PI) based current controller controls the required current for necessary damping during gait. The prosthesis was designed and developed locally in India keeping in view the cost, functionality, socio-economic, and aesthetic requirements. The prototype was experimentally tested on a trans-femoral amputee and the results are presented in this work. The implementation of the proposed design and control scheme in the prototype successfully realizes the notion that normal gait kinematics can be achieved at a low cost comparable to passive prostheses. The incurring cost and power expenditure of the proposed prosthesis are evaluated against passive and active prostheses, respectively. The commercial implications for the prosthesis were explored on the basis of recommendations of ISPO Consensus Conference on Appropriate Prosthetic Technology in Developing Countries. The key objective of this work is to enable lucid design for development of an affordable prosthesis in a low-resource setting.

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Section: Discussionmentioning

confidence: 99%

Section: Prosthesis Designmentioning

confidence: 99%

Section: Prosthesis Designmentioning

confidence: 99%

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An Affordable Insole-Sensor-Based Trans-Femoral Prosthesis for Normal Gait

Pandit

Godiyal

Vimal

et al. 2018

Sensors

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“…In this experiment, a four-bar linkage prosthetic knee based on magnetorheological effect [31]- [33] developed in our laboratory is used as the prosthetic knee prototype. The developed prosthetic knee prototype [34] is mainly composed of the four-bar linkage and the integrated magnetorheological (MR) damper. The four-bar linkage is used to imitate the instantaneous center of the rotation of the subject's knee joint.…”

Section: Application Verification a Experimental Setupmentioning

confidence: 99%

Design and Development of a Rayleigh Oscillator-Based Reference Angle Generator for Motion Control of Smart Prosthetic Knees

2020

IEEE Access

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In order to synchronize the motions of the above-knee amputee's limbs and smart prosthetic knee in practical applications, the principle of a Rayleigh oscillator-based reference angle generator (RORAG) for the motion control of smart prosthetic knees is proposed. The central pattern generator (CPG) model of the lower limb in this paper uses a pair of phase-coupling Rayleigh oscillators to imitate the human's lower limb's biological CPG, where the used Rayleigh oscillators are improved to exactly represent the motion characteristics of the lower limb. A frequency control method for the CPG model is proposed to synchronize the thigh reference angle, which is generated by the lower limb's CPG model, with the swing angle of the above-knee amputee's residual thigh. The RORAG model is developed by using the real-time simulation system. An experimental system is developed to verify the performance of the RORAG model in two terms of the curve shape and motion synchronization. Further, in order to estimate the application value of the proposed RORAG model in two terms of the real-time and accuracy, a bio-guided motion platform system is developed and fabricated. On this motion platform system, the RORAG model is used to control a prosthetic knee prototype. The experimental results show that the developed RORAG model can imitate the subject's knee joint's swing angle accurately in real time. Therefore, the proposed RORAG is effective in practical applications. INDEX TERMS Motion characteristics, reference angle generator, prosthetic knees, Rayleigh oscillator.

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“…In the recently decades, there are several researches about the MR damper based above-knee prosthesis (MRAKP) in the world [3][4][5][6]. Hugh Herr and Ari Wilkenfeld proposed an intelligent prosthetic knee with a MR damper and the adaptive controlling base on the finite-state machine (FSM) for the prosthetic knee [7].…”

Section: Introductionmentioning

confidence: 99%

Research on the Nonlinear Computer Torque control of the MR Damper Based Above-knee Prosthesis

Pan

2019

MATEC Web Conf.

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Aiming at the motion track controlling of the semi-active magnetorheological damper based above-knee prosthesis (MRAKP), according to the LaSalle’s invariant set theorem, a kind of nonlinear compute torque (NCT) control law for the track controlling of the AKMR, is proposed to promote the robustness and performance of the intelligent above-knee prosthesis. The proposed NCT controller includes the feedforward control and the feedback control. The former one is used to compensate the nonlinear terms in the dynamic model of the MRAKP, such as the Coriolis force, the centripetal force, and the gravity. The feedback control, utilizing a nonlinear PD controller, adaptively adjusts the control gain coefficients and reduces the system error. On these bases, numerical simulations on the MRAKPare carried out to analyze the performance of the proposed NCT controller in ADAMS and simulink. For comparing, the track controlling performance of the PD controller and the CT+PD controller are also presented in the paper. Simulation results indicate that the proposed NCT controller for the MRAKP is able to adaptively adjust the control gain coefficients with lower track error and higher robustness than the conventional PD controller and the CT+PD controller.

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A novel four-bar linkage prosthetic knee based on magnetorheological effect: principle, structure, simulation and control

Cited by 33 publications

References 11 publications

An Affordable Insole-Sensor-Based Trans-Femoral Prosthesis for Normal Gait

An Affordable Insole-Sensor-Based Trans-Femoral Prosthesis for Normal Gait

Design and Development of a Rayleigh Oscillator-Based Reference Angle Generator for Motion Control of Smart Prosthetic Knees

Research on the Nonlinear Computer Torque control of the MR Damper Based Above-knee Prosthesis

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