Original scientific paper

https://doi.org/10.17559/TV-20150731100315

The bionic design and system identification of intelligent bionic leg with magneto-rheological damper

Hua-Long Xie ; School of Mechanical Engineering & Automation, Northeastern University, No. 3-11, Wenhua Road, Heping District Shenyang, Liaoning, 110819, P. R. China
Nan He ; School of Mechanical Engineering & Automation, Northeastern University, No. 3-11, Wenhua Road, Heping District Shenyang, Liaoning, 110819, P. R. China
Fei Li ; School of Information Science & Engineering, Shenyang University of Technology, Shenyang, Liaoning, 110870, P. R. China
Jian-Yu Yang ; School of Mechanical Engineering & Automation, Northeastern University, No. 3-11, Wenhua Road, Heping District Shenyang, Liaoning, 110819, P. R. China

Abstract

Intelligent bionic leg (IBL) controlled by magneto-rheological (MR) damper is an advanced prosthesis. The structure of human knee joint and torque control methods of IBL knee joint are analysed. The bionic design of IBL with MR damper is introduced. The transfer function of IBL is gained by system identification and parameter tuning of PID control based on genetic algorithm is done. The combined control simulation based on PID method indicates that IBL with MR damper can track the normal gait of human healthy leg well. The transfer function can describe IBL system characteristics well and parameter tuning of PID control based on genetic algorithm is effective.

Keywords

intelligent bionic leg; parameter tuning; PID control; system identification

Hrčak ID:

147273

URI

https://hrcak.srce.hr/147273

Publication date:

22.10.2015.

Article data in other languages: croatian

Visits: 3.103 *