A novel four-bar linkage prosthetic knee based on magnetorheological effect: principle, structure, simulation and control

In this paper, the principle and structure of the four-bar linkage prosthetic knee based on the magnetorheological effect (FLPKME) are proposed and realized by individually integrating the upper and lower link rods of the four-bar linkage with the piston rod and the outer cylinder of the magnetorheological (MR) damper. The integrated MR damper, in which the MR fluid is operated in the shear mode, has a double-ended structure. The prototype of the FLPKME is designed and fabricated. Utilizing the developed FLPKME, the lower limb prosthesis is developed, modeled, and simulated. On these bases, the control algorithm for the FLPKME is developed. A test platform for the FLPKME is developed and the performance of the FLPKME with seven constant currents and controlled currents by the control algorithm developed in this paper are experimentally tested. The results show that the FLPKME with a constant current of 1.6 A possesses the basic stable gait, and the FLPKME with the controlled currents by the control algorithm developed in this paper is able to track the motions well and to imitate the natural motions of a healthy human knee joint.