Title :
The Bionic Design and Intelligent Control of Multi-Axis Artificial Leg
Author :
Li, Fei ; Yuan, Weiqi ; Xie, Hualong
Author_Institution :
Sch. of Inf. Sci. & Eng., Shenyang Univ. of Technol., Shenyang, China
Abstract :
Intelligent bionic leg controlled by a micro processing unit is an advanced intelligent prosthesis. In order to provide an ideal test-bed for the development of intelligent bionic leg, a new pattern humanoid robot-biped robot with heterogeneous legs (BRHL) is proposed. The conception and research purpose of BRHL are expatiated. Based on human bioscience, bionic design of artificial knee joint is analyzed and virtual prototype is given. Hip joint and ankle joint are designed and virtual prototypes are given. Driving shaft of artificial leg is determined by analysis of driving moment. In the end, control system is established and simulation is done. The result indicates that multi-axis artificial leg can simulate human normal gait well.
Keywords :
artificial limbs; biocybernetics; gait analysis; humanoid robots; iterative methods; learning (artificial intelligence); legged locomotion; medical computing; medical robotics; microprocessor chips; ankle joint design; artificial knee joint; bionic design; biped robot heterogeneous leg; hip joint design; humanoid robot; intelligent bionic leg; intelligent control; intelligent prosthesis; iterative learning control; microprocessing unit; multi-axis artificial leg; virtual prototype; Artificial intelligence; Humanoid robots; Humans; Intelligent control; Intelligent robots; Leg; Legged locomotion; Prosthetics; Testing; Virtual prototyping;
Conference_Titel :
Bioinformatics and Biomedical Engineering , 2009. ICBBE 2009. 3rd International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-2901-1
Electronic_ISBN :
978-1-4244-2902-8
DOI :
10.1109/ICBBE.2009.5163580
