Bionic artificial leg design and control simulation based on fuzzy PID control algorithm

Abstract

Based on the analysis of problems that exist in the common humanoid robot leg, to make artificial leg gait better to be human, its improved structure is designed in this paper. In order to make the walking gait of artificial leg more natural, the four-bar mechanism is used as its knee joint. In order to make the artificial leg have better flexibility, the pneumatic artificial muscle (PAM) is adopted as the driving source of its knee joint. The control simulation of artificial leg based on fuzzy PID control algorithm is done and the simulation results indicate that artificial leg can simulate human normal walking gait precisely.

Bionics Design of Artificial Leg and Experimental Modeling Research of Pneumatic Artificial Muscles

“…In order to provide convenience for lower limb amputees, intelligent prosthetics are used to replace disabled limbs in the field of biological rehabilitation, and the development and research of intelligent prosthetics require ideal artificial legs [1]. Most two-legged robots use direct-current (DC) servo motors as driving devices, and some also use pneumatic and hydraulic devices.…”