Research and Development of the Intelligently-Controlled Prosthetic Ankle Joint

The purpose of this study is to develop a prosthetic ankle joint intelligently controlled by specially designed linear MR (magneto-rheological) brake. MR fluid changes its rheology depending on the intension of an applied magnetic field. The brake using MR fluid (we call it MR brake) has a simple structure and can control its braking force with a low voltage. Prosthesis users often tumble because they don´t have dorsiflexor, so that we propose putting MR brake taking the place of dorsiflexion. We hope that prosthesis users can walk more naturally and smoothly by use of developed intelligent prosthetic ankle joint with MR brake. We developed a prototype of it and evaluated it with walking experiments before. But there were some problems with the prototype in terms of hardware and experimental environments. Therefore we have developed a 2nd prototype of the intelligent prosthetic ankle joint with the MR brake, which was improved considering previous problems, and then we have carried out the walking experimental evaluation of it