The Knee Joint Design and Control of Above-knee Intelligent Bionic Leg Based on Magneto-rheological Damper

The above-knee intelligent bionic leg is very helpful to amputees in the area of rehabilitation medicine. This paper first introduces the functional demand of the above-knee prosthesis design. Then, the advantages of the four-bar link mechanism and the magneto-rheological （MR） damper are analyzed in detail. The fixed position of the MR damper is optimized and a virtual prototype of knee joint is given. In the end, the system model of kinematics, dynamics, and controller are given and a control experiment is performed. The control experiment indicates that the intelligent bionic leg with multi-axis knee is able to realize gait tracking of the amputee＇s healthy leg based on semi-active control of the MR damper.

四足仿生巡检机器人在上湾选煤厂的应用

为解决生产系统核心设备依靠人工巡视和检查的问题,上湾选煤厂在智能化建设过程中研发了具备自主行走、自主定位、自主导航、故障诊断等功能的四足仿生巡检机器人,通过对该机器人的多层次巡检场景下路径规划、步态生成与步态转换等技术的研究,使其具备在选煤厂非结构化环境内精确定位和稳定行走的能力,且通过搭载多种传感器实现了对选煤厂生产现场有害气体、温度、湿度等环境因素的实时监测。实际应用结果表明,该机器人能够替代人工完成巡检任务,并具有环境检测、状态判断、异常分析及故障预警等功能。