Title :
Terrain Identification of Intelligent Bionic Leg Based on Ground Reaction Force
Author :
Wang, Fei ; Su, Jie ; Xie, Hualong ; Xu, Xinhe
Author_Institution :
Northeastern Univ., Shenyang
Abstract :
Biomedical research indicates that human gait is considerable different when walking on different terrain. In this paper, terrain identification scheme for an intelligent bionic leg (IBL) is presented. Terrain identification system is modeled by the procedure neural networks (PNNs) and is used to identify the current terrain type based on the ground reaction force (GRF) information. According to identification result, damping moment of magneto-rheological (MR) damper mounted on knee joint of IBL is adjusted to accommodate changing conditions. This paper presents the PNNs model and calculates the related arithmetics. Terrain identification results prove the rationality and feasibility of the proposed scheme.
Keywords :
medical control systems; neural nets; prosthetics; vibration control; biomedical research; damping moment; ground reaction force; human gait; intelligent bionic leg; knee joint; magnetorheological damper; procedure neural networks; terrain identification; Control systems; Damping; Hip; Humans; Knee; Leg; Legged locomotion; Motion control; Prosthetics; Testing; Intelligent bionic leg; ground reaction force; procedure neural networks; terrain identification;
Conference_Titel :
Integration Technology, 2007. ICIT '07. IEEE International Conference on
Conference_Location :
Shenzhen
Print_ISBN :
1-4244-1092-4
Electronic_ISBN :
1-4244-1092-4
DOI :
10.1109/ICITECHNOLOGY.2007.4290390