Development of an above knee prosthesis using MR damper and leg simulator

J. H. Kim, J. H. Oh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

76 Citations (Scopus)

Abstract

Because conventional above-knee prostheses are passive type device with constant mechanical properties, knee joint motions are not similar to that of normal persons. On the other hand, active type prostheses can improve swing phase gait but these are expensive, heavy and consume large energy. So the semi-active type prostheses are presented. We propose to use the rotary MR damper. The torque dissipation in the knee joint can be controlled by the magnetic field induced by solenoid. The 3 DOF leg simulator has been also developed to generate various hip motions and analyze the results of walking motions. This simulator is useful in designing suitable prosthesis for the handicapped. Tracking control of knee joint angle was performed with this leg simulator. The experiment shows that the proposed prosthesis system has good performance in swing phase. As a controller, we applied the repetitive controller in conjunction with a computed control law and PD control law. This algorithm reduced RMS tracking error a s the repetitions of the tracking. Moreover, the proposed prosthesis system is adaptable to walking speed.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3686-3691
Number of pages6
DOIs
Publication statusPublished - 2001 Sep 15
Event2001 IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of
Duration: 2001 May 212001 May 26

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume4
ISSN (Print)1050-4729

Other

Other2001 IEEE International Conference on Robotics and Automation (ICRA)
CountryKorea, Republic of
CitySeoul
Period01/5/2101/5/26

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Kim, J. H., & Oh, J. H. (2001). Development of an above knee prosthesis using MR damper and leg simulator. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 3686-3691). (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 4). https://doi.org/10.1109/ROBOT.2001.933191