An above-knee prosthesis with magnetorheological variable-damping

Ochoa-Diaz, Claudia; Rocha, Thiago Schmitz Marques da; Oliveira, Lucas de Levy; Paredes, Miguel G.; Lima, Rafael Silva; Bó, Antônio Padilha Lanari; Borges, Geovany A.

doi:10.1109/biorob.2014.6913761

Cited by 18 publications

(21 citation statements)

References 14 publications

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“…Compared with a single-axis MR damper prosthesis, the multi-axis MR damper prosthesis can better simulate the trajectory of the instantaneous center of rotation, so that it has better bionics and a more natural gait. Ochoadiaz et al [11] combined the MR damper and the four-bar linkage to design a four-axis MR damper prosthesis, wherein the MR damper occupies a large installation space so that the MR damper and the four-bar linkage swing each other when the knee joint is moving, which reduces gait quality. Xu et al [12] designed a prosthesis that not only reduces the space and mass of the prosthesis but also effectively solves the problem of relative movement between the four-bar mechanism and the MR damper during walking, using an integrated four-bar structure and a double-bar MR damper.…”

Section: Introductionmentioning

confidence: 99%

Design and Trajectory Tracking Control of a Magnetorheological Prosthetic Knee Joint

et al. 2021

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This paper developed a new magnetorheological (MR) prosthetic knee joint using an MR damper as the brake. According to the gait data of healthy people walking on flat ground, the structure of a MR prosthetic knee joint was expounded in detail, and its motion and dynamic model was also established. In addition, an MR damper was developed according to the specific needs of an MR prosthesis. The forward and reverse mechanical models of the MR damper were established, and its damping performance was obtained through experimental tests. In addition, to solve the problems of uncertainty and external interference in the MR prosthetic knee joint system, a second-order sliding mode controller was proposed. The experimental test results show the maximum positive error of the knee joint swing trajectory is 9.4°, which effectively tracks the reference swing trajectory.

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Section: Introductionmentioning

confidence: 99%

Design and Trajectory Tracking Control of a Magnetorheological Prosthetic Knee Joint

et al. 2021

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“…Use of MR fluid along with an electromagnet Technical Editor: Pedro Manuel Calas Lopes Pacheco, D.Sc.. [3][4][5][6][7][8][9] or in some cases a permanent magnet [10] makes the damper controllable and thus the system more adaptable. Many studies have been reported in the literature using MR damper for automobile applications [5,9,11]; a few of them also applied it to a prosthetic knee joint [10,[12][13][14][15]. Pandit et al [15] fabricated a low-cost prosthetic joint using an MR damper and carried out preliminary trials on a test subject.…”

Section: Introductionmentioning

confidence: 99%

“…Pandit et al [15] fabricated a low-cost prosthetic joint using an MR damper and carried out preliminary trials on a test subject. Ochoa-Diaz et al [12] used a commercial damper (Lord Corporation, variant: RD-8040-1) in their design and carried out preliminary investigations by using the prosthetic knee in the passive mode, thus simulating a battery run-out situation.…”

Section: Introductionmentioning

confidence: 99%

“…Though the use of an MR fluid in the damper adds variability to it, the real advantages are obtained once a controller is applied; this supplies the desired input to the damper such that the prosthesis mimics the healthy leg. The finite state controller is one of the most used controllers with state feedbacks readily available using insoles [15], angular velocity and acceleration information [12] and force transducers [18]. Pandit et al [15] designed a finite state controller with five states in a gait cycle and using foot insoles.…”

Section: Introductionmentioning

confidence: 99%

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Semi-active control of a swing phase dynamic model of transfemoral prosthetic device based on inverse dynamic model

Saini

Kumar

Sujatha

2020

J Braz. Soc. Mech. Sci. Eng.

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Improving the gait of transfemoral amputees and making it biomimetic and stable has always been a major effort. A dynamic model of the prosthetic device can predict the kinetic and kinematic performances, when incorporated with a musculoskeletal model. In this regard, a dynamic model of a recent trend of variable damping technology will help a great deal in evaluating the performance of the prosthetic device and also in studying the effect of various parameters on the prostheses. The current paper presents the dynamic model of a single axis two segmental prosthetic knee implemented with a magneto-rheological (MR) damper as a variable damping element. The MR damper is modeled mathematically using Bouc-Wen model with model parameters evaluated by minimizing the error norms for time, displacement and velocity between the experimental and the model-generated results using a genetic algorithm. Two different experimental data sets are used, one for mathematical modeling and other to assess the accuracy of the fit model. A Proportional Derivative plus Controlled Torque controller is employed, and the parameters are tuned to minimize the error between the desired and control input torques. Further, an inverse dynamic model using Bouc-Wen model variables is assumed and validated later. This model predicts the current directly and avoids the necessity of solving any quadratic equation, which is required in the case of inverse models based on modified Bouc-Wen. The dynamic model of the prosthesis is analyzed for the swing phase alone, and the results show that the model traces the desired knee angle and also the shank reaches full knee extension at the end of this phase with terminal velocity small enough to be handled by an extension stop.

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“…Although many powered prosthetic knees have claimed to provide functional benefit to user, the only powered prosthetic knee commerciallyavailable to the end user is the Power Knee (Össur). The possibilities may be related to the reduced autonomy, lack of the silent and light-weighted actuators, as well as inadequate response when battery runs out, high cost and unnatural user interface [14].…”

Section: Introductionmentioning

confidence: 99%

Design and Evaluation of a Novel Microprocessor-Controlled Prosthetic Knee

Cao

Chen

et al. 2019

IEEE Access

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Transfemoral amputees demand a mechatronic lower limb prosthesis as technical substitute for restoring their gait functions. Prosthetic knee is the key component of a transfemoral prosthesis. The performance of the prosthetic knee determines the walking ability of the transfemoral amputee. This study proposed a novel microprocessor-controlled prosthetic knee with hydraulic damper and evaluated the performance of the prosthetic knee by function simulation and evaluation platform. The prosthetic knee with electrical-controlled hydraulic cylinder that could modulate knee flexion and extension damping properties independently and continuously by single motor was designed. Gait phase identification system based on knee angle sensor, inertial measurement units mounted on thigh connector and shank and force transducer embedded in shank was proposed. Gait phase identification and damping control strategy were determined by typical gait events during walking. Speed adaption and gait symmetry tests were conducted with a customized gait simulator to evaluate the performance of the proposed microprocessor-controlled prosthetic knee. The angle trajectories of the prosthetic knee were similar under a range of walking speeds. While the symmetry index values indicated that the stance phase was more asymmetry than swing phase, the peak swing flexion knee angles were consistently controlled between 60-70 degrees under different speeds. The knee angle symmetry was observed in different speeds during swing phase. It is suggested that the proposed microprocessor-controlled prosthetic knee could meet the fundamental demands of walking with smooth angular transition across different walking speeds.INDEX TERMS Microprocessor-controlled prosthetic knee, hydraulic damper, gait phase identification, gait symmetry, peak swing flexion knee angle.

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An above-knee prosthesis with magnetorheological variable-damping

Cited by 18 publications

References 14 publications

Design and Trajectory Tracking Control of a Magnetorheological Prosthetic Knee Joint

Design and Trajectory Tracking Control of a Magnetorheological Prosthetic Knee Joint

Semi-active control of a swing phase dynamic model of transfemoral prosthetic device based on inverse dynamic model

Design and Evaluation of a Novel Microprocessor-Controlled Prosthetic Knee

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