Title :
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
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;
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
DOI :
10.1109/CCDC.2009.5191693
