System modeling and control of intelligent bionic leg

摘要

Intelligent bionic legs (IBL) controlled by magneto-rheological (MR) damper is an advanced prosthesis.This paper first introduces the conception,research purpose and configuration of intelligent bionic leg.Then kinematics model and dynamics model are deduced in detail.Modified sigmoid model of MR damper is given.In the end,control model of intelligent bionic leg is discussed and combined control simulation is done.The result indicates that intelligent bionic leg controlled by MR damper can track human normal gait well.