Control of transtibial prosthetic limb with magnetorheological fluid damper by using a fuzzy PID controller

Nordin, NH Diyana; Muthalif, Asan G. A.; Razali, M. Khusyaie M.

doi:10.1177/1461348418766171

Cited by 18 publications

(20 citation statements)

References 29 publications

(24 reference statements)

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“…As a healthy subject step through a gait cycle, the damping force varies based on the flexion angles and other forces (Nordin et al , 2018). The MR fluid is a type of innovative material that is capable of altering its rheological property.…”

Section: Methodsmentioning

confidence: 99%

Design and analysis of magnetorheological damper based ankle-foot prosthesis prototype

Negi

Sagar²,

Nautiyal³

et al. 2021

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Purpose This paper aims to design and analyze a controlled magnetorheological damper-based ankle-foot prosthesis prototype. Design/methodology/approach The ankle-foot prostheses prototype is proposed using the lightweight three dimensional (3 D)-printed parts, MR damper and digital servomotor. Initially, the computer-aided design (CAD) model of the prosthetic foot, leaf spring, retention spring and the various connecting parts required to connect the pylon and damper actuator assemblies are designed using CAD software. Later, the fused deposition modeling 3 D printer-based technique prints a prosthetic foot and other connecting parts using Acrylonitrile Butadiene Styrene filament. The prototype consists of two control parts: the first part controls the MR actuator that absorbs the impacts during walking. The second part is the control of the electric actuator intended to generate the dorsiflexion and plantar flexion movements. Finally, the prototype is tested on a transtibial amputee under the supervision of a prosthetist. Findings The ANalysis SYStems software-based analysis has shown that the prosthetic foot has a factor of safety values between 4.7 and 8.7 for heel strike, mid-swing and toe-off; hence, it is safe from mechanical failure. The designed MR damper-based ankle-foot prosthesis prototype is tested on an amputee for a level-ground walk; he felt comfortable compared to his passive prosthesis. Originality/value The design of an MR damper-based prosthesis prototype offers a better dynamic range for locomotion than passive prostheses. It reduces the injuries and provides relief to the transtibial amputees.

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Section: Methodsmentioning

confidence: 99%

Design and analysis of magnetorheological damper based ankle-foot prosthesis prototype

Negi

Sagar²,

Nautiyal³

et al. 2021

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show abstract

“…This testing method is relatively complex and time-consuming, which is not conducive to the testing of lower limb prosthetic knee joints [3]. The test method for the durability of lower limb prostheses on the market is relatively simple, and the test effect cannot be achieved only by repeatedly testing the bending degree of the knee joint [4].…”

Section: Introductionmentioning

confidence: 99%

Control system and kinematic analysis of lower limb prosthetic knee joint

Liu

Fang

et al. 2023

Materialwissenschaft Werkst

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In order to study the motion characteristics of the prosthesis, a three‐dimensional model of the test platform was established, and the corresponding control scheme was designed according to this model. For the lower limb prosthesis test platform, a fuzzy proportion‐integration‐differentiation (PID) control model was created. Second, the matlab modules were used to construct the virtual model, and the goal function‘s control research was conducted. Finally, a virtual model was created, and the outcomes were studied, in order to assess the differences between the control results of proportional‐integral‐differential controller and fuzzy proportional‐integral‐differential controller. The results verify that the test platform using fuzzy proportional‐integral‐differential controller is capable of greater stability. The lower limb prosthetic knee joint test platform was built, and the corresponding experimental research was carried out on the motion of the lower limb prosthetic knee joint. The experimental data showed that the angle error of the hip joint was within 2° when the normal human gait was walking on the ground. The error of the joint angle does not exceed 3°. The prosthesis can clearly better mimic the angles of the hip and knee joints.

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“…For this reason, MRFs have been incorporated in the implementation of semi-active dampers for vehicle suspensions. Magnetorheological (MR) dampers are semiactive control devices that are widely used in various applications such as transtibial prosthetic limb [7][8], tremor attenuation [9], seismic structural control [10], automotive suspension application [11] and landing gear [12]. Filled with MR fluid, MR dampers have gained interest due to their controllability, response time, low power consumption and fault-safe characteristics [13].…”

Section: Introductionmentioning

confidence: 99%

Parametric Estimation From Empirical Data Using Particle Swarm Optimization Method for Different Magnetorheological Damper Models

et al. 2021

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The nonlinearity behaviour of magnetorheological fluid (MRF) can be described using a number of established models such as Bingham and Modified Bouc-Wen models. Since these models require the identification of model parameters, there is a need to estimate the parameters' value carefully. In this paper, an optimization algorithm, i.e., the Particle Swarm Optimization (PSO) algorithm, is utilized to identify the models' parameters. The PSO algorithm distinctively controls the best fit value by minimizing marginal error through root-mean-square error between the models and the empirical response. The validation of the algorithm is attained by comparing the resulting modified Bouc-Wen model behaviour using PSO against the same model's behaviour, identified using Genetic Algorithm (GA). The validation results indicate that the application of PSO is better in identifying the model parameters. Results from this estimation can be used to design a controller for various applications such as prosthetic limbs.

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Control of transtibial prosthetic limb with magnetorheological fluid damper by using a fuzzy PID controller

Cited by 18 publications

References 29 publications

Design and analysis of magnetorheological damper based ankle-foot prosthesis prototype

Design and analysis of magnetorheological damper based ankle-foot prosthesis prototype

Control system and kinematic analysis of lower limb prosthetic knee joint

Parametric Estimation From Empirical Data Using Particle Swarm Optimization Method for Different Magnetorheological Damper Models

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