Design of Biped Robot with Heterogeneous Legs for advanced prosthetic knee application

摘要

A heterogeneous typed biped robot is presented and is designed for advanced prosthetic knee application. The design was inspired by the recent progress of biped robot technology and the biomedical research results for natural gait for above-knee amputee. The motorized part of the robot is designed to mimic human action and the passive part of the robot is designed for computerized prosthetic knee application with magneto-rheological damper. This design is very useful to analyze and design the advanced prosthetic knee when the motorized part of the robot is well designed and also is very useful to understanding how human controls the balance. The MSC ADAMS and MATLAB are used to model the virtual prototype and control simulation respectively