IJE TRANSACTIONS A: Basics Vol. 32, No. 1 (January 2019) 146-152    Article in Press

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S. Seid, S. Chandramohan and S. Sujatha
( Received: May 18, 2018 – Accepted in Revised Form: January 03, 2019 )

Abstract    In this work, a magnetorheological (MR) damper based above-knee prosthesis is design and evaluated based on its performance in swing phase and in stance phase. Initially, a dynamic system model for swing phase of a prosthetic leg incorporating a single-axis knee with ideal MR damper was built. The dynamic properties of the damper are represented with Bingham parametric model. From Bingham model, governing damper parameters that determine the damping force and piston displacement of the damper are identified and optimized so as to enable the single-axis knee to nearly mimick the natural swing phase trajectory of a healthy person for level-ground walking as obtained from experimental data. Then, with the optimal damper parameters, an MR damper valve constrained in a desired cylindrical volume is developed. Finally, the prosthetic knee with the MR damper is evaluated for its performance during stance phase, based on ISO standard loading condition for the intended application. The results show that, compare to Rheo knee®, the MR damper based prosthetic knee has achieved up to 68% reduction by volume and 40% reduction by weight.


Keywords    Knee, Swing Phase, Magnetorheological (MR) Damper, Damping Force



در این پژوهش، یک دریچه دمپر مگنتورهولوژیکی (MR) که بر اساس پروتز فوقانی زانو ساخته شده است، براساس عملکرد آن در فاز چرخشی و در مرحله ایستایی طراحی و ارزیابی می‌شود. در ابتدا یک مدل پویا سیستم برای فاز نوسان یک پایه پروتز شامل یک زاویه تک محوری با دمپر ایده آل MR ساخته شد. خواص پویای دمپر با مدل پارامتر Bingham نمایان می‌شود. از مدل Bingham، پارامترهای دمپر حاکم بر نیروی محرک و جابجایی پیستون دمپر شناسایی شده و بهینه شده‌اند تا زانوی تک محور را به تقریباً تقلید مسیر طبیعی فیزیکی یک فرد سالم برای پیاده‌روی سطح-زمین از داده‌های تجربی به دست آورند. سپس، با پارامترهای دمپر مطلوب، دریچه دمپر MR محدود شده در حجم استوانه‌ای مورد نظر توسعه یافته است. در نهایت، زانو پروتز با دمپر MR برای عملکرد آن در فاز ایستا، بر اساس شرایط بارگذاری استاندارد ISO برای برنامه مورد نظر ارزیابی می‌شود. نتایج نشان می‌دهد که در مقایسه با زانو Rheo®، زانوی پروتز مبتنی بر دمپر MR تا 68% کاهش حجم و کاهش وزن 40% کاهش یافته است.


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