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

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.