Modeling of Magnetorheological Damper and Fuzzy PID Control of Intelligent Bionic Leg with Meniscus

Intelligent bionic leg (IBL) is a type of advanced intelligent prosthesis which integrates various technologies and can compensate for the lost functions of above-knee amputees. When the prosthesis wearer does high-intensity exercise, the impact and vibration on the whole prosthesis will be greatly increased, thus the performance of its stable following control of the prosthesis is required to be better. To increase the impact resistance and stability control ability of prosthesis, the semi-active control mode based on magnetorheological damper (MRD) and bionic structure similar to the human meniscus are introduced into the artificial knee joint. The functions of the human knee joint are analyzed and the mechanical structure of IBL is designed. The impact resistance ability of the prosthetic knee joint with meniscus is analyzed through ANSYS software. The forward and inverse models of MRD based on the Bouc-Wen model and BP neural network are built respectively. Finally, virtual prototype co-simulation based on fuzzy PID control is carried out. The results show that the application of meniscus and magnetorheological damper effectively improves the performance of the IBL.