Design and control of multifunctional magnetorheological actuators for assistive knee braces

H. T. Guo; W. H. Liao

doi:10.1117/12.847530

9 April 2010 Design and control of multifunctional magnetorheological actuators for assistive knee braces

H. T. Guo, W. H. Liao

Proceedings Volume 7643, Active and Passive Smart Structures and Integrated Systems 2010; 764310 (2010) https://doi.org/10.1117/12.847530
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2010, San Diego, California, United States

Abstract

This paper is aimed at developing a novel multifunctional actuator utilizing magnetorheological (MR) fluids. As a key component for assistive knee braces, the actuator can work with multiple functions as motor, clutch and brake in order to meet the requirement of normal human walking. In this paper, design considerations including configurations, materials selection, mechanical and electromagnetic designs are illustrated. Prototype of the multifunctional actuator is fabricated, and each of its functions is investigated. Control strategies for mimicking normal human walking using the multifunctional actuator are illustrated. Adaptive control algorithm is adopted. Experiments on torque and speed tracking are conducted. The results show that the developed multifunctional actuator is promising for assistive knee braces.

Citation Download Citation

H. T. Guo and W. H. Liao "Design and control of multifunctional magnetorheological actuators for assistive knee braces", Proc. SPIE 7643, Active and Passive Smart Structures and Integrated Systems 2010, 764310 (9 April 2010); https://doi.org/10.1117/12.847530

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