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



The above-knee intelligent bionic leg is very helpful to amputees in the area of rehabilitation medicine. This paper first introduces the functional demand of the above-knee prosthesis design. Then, the advantages of the four-bar link mechanism and the magneto-rheological (MR) damper are analyzed in detail. The fixed position of the MR damper is optimized and a virtual prototype of knee joint is given. In the end, the system model of kinematics, dynamics, and controller are given and a control experiment is performed. The control experiment indicates that the intelligent bionic leg with multi-axis knee is able to realize gait tracking of the amputee’s healthy leg based on semi-active control of the MR damper.


Knee joint above-knee intelligent bionic leg magneto-rheological damper 


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Copyright information

© Institute of Automation, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Hua-Long Xie
    • 1
  • Ze-Zhong Liang
    • 1
  • Fei Li
    • 2
  • Li-Xin Guo
    • 1
  1. 1.School of Mechanical Engineering and AutomationNortheastern UniversityShenyangPRC
  2. 2.School of Information Science and EngineeringShenyang University of TechnologyShenyangPRC

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