The gait system research of intelligent bionic leg

Author

Xie, Hualong ; Li, Fei ; Sheng, Zhongqi ; Xu, Zhiwei ; Liu, Yongxian

Author_Institution

Sch. of Mech. Eng. & Autom., Northeastern Univ., Shenyang, China

fYear

2009

fDate

17-19 June 2009

Firstpage

4623

Lastpage

4627

Abstract

Intelligent bionic legs (IBL) controlled by magneto-rheological (MR) damper is an advanced prosthesis. The conception, research purpose and configuration of intelligent bionic leg were introduced. Gait description of human normal gait is detailed using analysis method of finite state machine (FMS). By information gained from six-axis force sensor, the gait perception method of typical gait events and gait states is discussed. The detection of real zero moment point (ZMP) was analyzed and on-line gait adjustment was discussed. In the last, control experiment of gait tracking was done.

Keywords

finite state machines; force sensors; magnetorheology; prosthetics; advanced prosthesis; finite state machine; gait events; gait perception method; gait states; gait system; gait tracking; intelligent bionic leg; magneto-rheological damper; online gait adjustment; six-axis force sensor; zero moment point; Automata; Damping; Humans; Intelligent sensors; Intelligent systems; Leg; Machine intelligence; Magnetic analysis; Prosthetics; Shock absorbers; Finite state machine; Intelligent bionic leg; Six-axis force sensor; gait tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference, 2009. CCDC '09. Chinese

Conference_Location

Guilin

Print_ISBN

978-1-4244-2722-2

Electronic_ISBN

978-1-4244-2723-9

Type

conf

DOI

10.1109/CCDC.2009.5191693

Filename

5191693