Optimization and Dynamics of Six-bar Mechanism Bionic Knee

Prosthetic knee is very important for the lower limb disabled people who want to walk normally. Based on the instantaneous center rotation (ICR) of human knee, this paper presents an optimal design of six-bar mechanism knee joint using genetic algorithm. The gait data of normal people are collected to perform dynamic inverse calculation of the optimized six-bar knee prosthesis. The simulation results demonstrate that proposed six-bar prosthesis knee joint has good performance gait. In future work, we will further develop models to achieve the balance and stability of walking gait. Thanks to the bionic property of six-bar prosthetic knee joint, it could broad application in knee joint design.