Control Design Of An Adaptive Prosthetic Leg For Amputees Using Magneto-Rheological Damper

Mohd Ridzuan, Juma'at (2015) Control Design Of An Adaptive Prosthetic Leg For Amputees Using Magneto-Rheological Damper. Project Report. UTeM, Melaka, Malaysia. (Submitted)

Text (24 Pages) Control Design Of An Adaptive Prosthetic Leg For Amputees Using Magneto-Rheological Damper.pdf - Submitted Version Download (286kB)

Abstract

This project is a about the development and designing control artificial limbs passive to semi active for those who are physically handicapped. Installation of this artificial leg will connect the top of the knee. The amputation can occur in various factors which include the effects of an accident or illness that involve imperfect circulation such as diabetes. The proposed design of prosthetic limbs with a design that has a magneto-rheological (MR) damper where this damper will replace the missing leg muscle that functioned from the knee to the ankle . Before the damper is applied, all damper properties should be identified in advance. Bouc - Wen model is the best model for the description of the hysteresis nature of MR damper. Control strategy used for this process is the development of prosthetic limbs using proportional, integral and derivatives (PID) controller. Generally, the system response in entirely unstable in open-loop form. The criteria to get the stability of the system are (i) settling time, Ts for of less than 5 seconds and (ii) pendulum angle never more than 0.05 radians from the verticals. From the results, it shows that PID controller can stabilize the nonlinearity function. While PID controller can be attributed partly to their good performance in a wide range of operating conditions and partly to their functional simplicity that make it simple, straightforward manner in operation. This result indicates that the model can be effectively used for control algorithms development and system evaluation.

Actions (login required)

View Item