Design of Biped Robot with Heterogeneous Legs for advanced prosthetic knee application

Author

Kim, Cheoltaek ; Lee, Ju-Jang ; Xu, Xinhe

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., Korea Adv. Inst. of Sci. & Technol., Daejeon

fYear

2006

Firstpage

1852

Lastpage

1855

Abstract

A heterogeneous typed biped robot is presented and is designed for advanced prosthetic knee application. The design was inspired by the recent progress of biped robot technology and the biomedical research results for natural gait for above-knee amputee. The motorized part of the robot is designed to mimic human action and the passive part of the robot is designed for computerized prosthetic knee application with magneto-rheological damper. This design is very useful to analyze and design the advanced prosthetic knee when the motorized part of the robot is well designed and also is very useful to understanding how human controls the balance. The MSC ADAMS and MATLAB are used to model the virtual prototype and control simulation respectively

Keywords

artificial limbs; biomimetics; control system synthesis; damping; gait analysis; legged locomotion; magnetorheology; computerized prosthetic knee application; gait analysis; heterogeneous typed biped robot design; magneto-rheological damper; Application software; Biomedical computing; Computer applications; Humans; Knee; Leg; Legged locomotion; Prosthetics; Robots; Shock absorbers; Magneto-Rheological damper; heterogeneous typed biped robot; hybrid design; prosthetic knee;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE-ICASE, 2006. International Joint Conference

Conference_Location

Busan

Print_ISBN

89-950038-4-7

Electronic_ISBN

89-950038-5-5

Type

conf

DOI

10.1109/SICE.2006.315802

Filename

4108985