Intelligent Bionic Leg Research Based On The Magnetorheological Damper And Meniscus

At present, there are more and more patients with physical disability in the society due to diseases, natural disasters, wars, traffic accidents, injuries and so on. Lower limb prosthesis can compensate standing, walking, and other functions of human body, its research and development has important social benefits and economic benefits. Traditional mechanical prosthesis can’t meet the diverse demands of limb disabled people, so intelligent prosthesis has become the pursuit of limb disabled people. Intelligent bionic leg is an advanced intelligent lower limb prostheses that concentrates technologies of information, electronics, control, biomedical, machinery and other technologies. It can imitate human health leg movement in maximum. Intelligent bionic leg has made a lot of improvement in aspects of mechanism design and kinematic personification in comparison with conventional prosthesis, helping the disabled accomplish a variety of activities in a more normal way. Therefore, the study of intelligent bionic leg has important practical value. The main work of this paper is as follow:(1) On the summarizing the intelligent bionic legs functional requirements, Pro/E software was used to establish the overall design scheme of intelligent bionic legs including the design of knee joint, meniscus, and ankle as well as the choice of foot. Four connecting rod drive mechanism was adopted for design of the knee joint. The instantaneous center track of four-bar knee kinematics was analyzed through ADAMS kinematics and its stability and athletic performance were also researched. Finally, the knee joint driver was designed and semi-active control scheme is proposed based on magnetorheological damper.(2) The meniscus bionic structure was established based on bionics principle and the structure research and function of real meniscus in human body. Then finite element analysis of the meniscus was carried out through ANSYS software.(3) On the basis of magnetorheological damper experiment and the study of magnetorheological damper mechanical model, Bouc-Wen model was used to establish the positive model of magnetorheological damper and its Simulink model was built, then BP neural network was used to establish reverse model of magnetorheological damper.(4) Through the analysis of virtual prototype simulation technology, ADAMS and MATLAB/Simulink was chosen to set up joint simulation platform of intelligent bionic leg. First, the PID control algorithm was used to conduct control simulation of the bionic legs, then the fuzzy PID control algorithm was adopted to carry out simulation on the basis of PID control algorithm.