The knee joint design and control of above-knee intelligent bionic leg based on magneto-rheological damper

Xie, Hualong; Liang, Zezhong; Li, Fēi; Guo, Lei

doi:10.1007/s11633-010-0503-y

Cited by 32 publications

(31 citation statements)

References 3 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…The novel control was implemented and it was found improving the human-system interactions in terms of object mobility, safety, naturalness, maneuverability, and so forth. The novel control was designed following the biomimetic or the human-interactive approaches, and psychophysics was used that determined the relationships between the physical stimuli and the sensory responses [24,35,36]. The findings may help develop human-friendly power assist devices for handling heavy objects in industries such as manufacturing and assembly, mining, logistics and transport, construction, agriculture, and so forth.…”

Section: Discussionmentioning

confidence: 99%

See 1 more Smart Citation

Improving Interactions between a Power-Assist Robot System and Its Human User in Horizontal Transfer of Objects Using a Novel Adaptive Control Method

Rahman

Ikeura

2012

Advances in Human-Computer Interaction

View full text Add to dashboard Cite

Power assist systems are usually used for rehabilitation, healthcare, and so forth.This paper puts emphasis on the use of power assist systems for object transfer and thus brings a novelty in the power-assist applications. However, the interactions between the systems and the human users are usually not satisfactory because human features are not included in the control design. In this paper, we present the development of a 1-DOF power assist system for horizontal transfer of objects. We included human features such as weight perception in the system dynamics and control. We then simulated the system using MATLAB/Simulink for transferring objects with it and (i) determined the optimum maneuverability conditions for object transfer, (ii) determined psychophysical relationships between actual and perceived weights, and (iii) analyzed load forces and motion features. We then used the findings to design a novel adaptive control scheme to improve the interactions between the user and the system. We implemented the novel control (simulated the system again using the novel control), the subjects evaluated the system, and the results showed that the novel control reduced the excessive load forces and accelerations and thus improved the human-system interactions in terms of maneuverability, safety, and so forth. Finally, we proposed to use the findings to develop power assist systems for manipulating heavy objects in industries that may improve interactions between the systems and the users.

show abstract

Section: Discussionmentioning

confidence: 99%

“…More human features will be investigated and be used to design the control to further improve the human-system interactions. The biomimetic and the psychophysical approaches to the control design will be considered for other assistive and interactive applications such as rehabilitation, healthcare, and so forth [22,35,[37][38][39].…”

Section: Discussionmentioning

confidence: 99%

Improving Interactions between a Power-Assist Robot System and Its Human User in Horizontal Transfer of Objects Using a Novel Adaptive Control Method

Rahman

Ikeura

2012

Advances in Human-Computer Interaction

View full text Add to dashboard Cite

show abstract

“…The four-bar linkage knee design allows for a more stable range of motion than a hinge joint knee design due to a large range of motion where the instant center of the four-bar linkage lies within a stability region. For stability, the ICR needs to be in front of the action line of GRF in the first position, between the GR lines in stance and behind the GRF line in the second position [1]. Due to the fact that the instant center of rotation (ICR) of the four-bar is variable, it plays a major role into defining the system stability, which is achieved through the knee mechanism and the ground reaction force (GRF), shown in Figure 11 and Figure 12.…”

Section: Performance Of the Devicementioning

confidence: 99%

“…Currently existing knee joint mechanisms can be classified as knee joints with either single axis of rotation or multiple axes of rotation [1]. Knees with a single revolute joint fall under the category of single-axis knees, and cannot simulate natural human motion well.…”

Section: Introductionmentioning

confidence: 99%

“…An analysis of the strengths and weaknesses of four-bar linkage knee mechanisms for clinicians prescribing prosthetics was given by de Vries [4]. More recently, Sancisi, Caminati and Parenti-Castelli [5], Xie, Lian, Li and Guo [1], Hamon and Aoustin [6] and Jin, Zhang, Dimo, Wang and Zhang [7] have reported designs of knee joints using multi-bar mechanisms. Multi-axis knee joints can be made to have greater security and reliability by moving the instantaneous center of the mechanism lower and backward, compared to single-axis knees by the addition of extra links.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Geometric Design of a Passive Mechanical Knee for Lower Extremity Wearable Devices Based on Anthropomorphic Foot Task Geometry Scaling

Ghosh

Robson

McCarthy

2015

Volume 5B: 39th Mechanisms and Robotics Conference

View full text Add to dashboard Cite

The standard recovery treatment for ankle and lower leg injuries consists of using underarm crutches. Hands-free crutches have recently emerged as a more comfortable, natural and energy efficient alternative. However in the currently available devices such as the iWalk-Free (iWALKFree, Inc., USA) the lack of a knee joint results in abnormal motion pattern at the hip and pelvic joints to ensure foot clearance during the swing phase of the gait. To address this shortcoming, the paper describes the kinematic synthesis of a planar passive four-bar linkage that can be used as a mechanical knee in lower limb exoskeletons and other wearable devices. The knee design is based on anthropomorphic foot walking trajectory obtained from optical motion capture system. The task geometry at the foot, related to the contact and curvature constraints between the foot and the ground at two critical positions 'heel strike' and 'toe off' is scaled to the knee level. Velocity and acceleration specifications compatible with the contact and curvature constraints assist in defining the synthesis equations for the knee design. A working prototype of a passive wearable crutch substitute that incorporates the mechanical knee shows the applicability of the proposed technique.

show abstract

Composite active disturbance rejection robust control for a prototype of an active damping artificial ankle prosthesis

Serrano

Chairez

Luviano‐Juárez

2019

Asian Journal of Control

View full text Add to dashboard Cite

The problem of robust control applied to adjust the configuration of an ankle prosthesis based on disturbance estimation has been addressed in this study. Active disturbance rejection control was the paradigm used for controlling the robotic prosthesis by means of a direct active estimation. Based on this active estimation, the robust controller implemented the disturbance cancellation providing a fast converge to the origin of the tracking error. The uncertainties affecting the prosthesis dynamics were identified by a high‐order extended state high gain observer. This identification was used to force the tracking between the actual position and force needed in the ankle prosthesis and some reference values obtained by a biomechanical gait cycle analysis. Therefore, the estimated states were used to implement a robust output feedback controller that was effective to reject actively the perturbations. This rejection implemented within the controller forced the trajectory tracking to a small vicinity of the origin. A strategy based on composite Lyapunov function served to prove that tracking problem for the prosthesis was successfully solved despite the switching nature of the gait cycle. The controller was implemented in numerical simulations for showing the convergence of the tracking error. The convergence of this tracking error to the region around the origin was obtained within the first second of simulation.

show abstract

The knee joint design and control of above-knee intelligent bionic leg based on magneto-rheological damper

Cited by 32 publications

References 3 publications

Improving Interactions between a Power-Assist Robot System and Its Human User in Horizontal Transfer of Objects Using a Novel Adaptive Control Method

Improving Interactions between a Power-Assist Robot System and Its Human User in Horizontal Transfer of Objects Using a Novel Adaptive Control Method

Geometric Design of a Passive Mechanical Knee for Lower Extremity Wearable Devices Based on Anthropomorphic Foot Task Geometry Scaling

Composite active disturbance rejection robust control for a prototype of an active damping artificial ankle prosthesis

Contact Info

Product

Resources

About