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Design, testing and control of a magnetorheological actuator for assistive knee braces

机译：辅助膝关节矫正用磁流变致动器的设计，测试和控制

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摘要

This paper is aimed at developing a smart actuator for assistive knee braces to provide assistance to disabled or elderly people with mobility problems. A magnetorheological (MR) actuator is developed to be used in assistive knee braces to provide controllable torque. The MR actuator can work as a brake or a clutch. When active torque is needed, the DC motor works and the MR actuator functions as a clutch to transfer the torque generated by the motor to the leg; when passive torque is desired, the DC motor is turned off and the MR actuator functions as a brake to provide controllable passive torque. The prototype of the developed MR actuator is fabricated and experiments are carried out to investigate the characteristics of the MR actuator. The results show that the MR actuator is able to provide sufficient torque needed for normal human activities. Adaptive control is proposed for controlling the MR actuator. Anti-windup strategy is used to achieve better control performance. Experiments on the MR actuator under control are also performed to study the torque tracking ability of the system.
机译：本文旨在开发一种用于辅助膝关节矫正的智能执行器，以为行动不便的残疾人或老年人提供帮助。磁流变（MR）执行器被开发用于辅助膝关节矫正器，以提供可控制的扭矩。 MR执行器可以用作制动器或离合器。当需要主动转矩时，直流电动机开始工作，MR执行器用作离合器，将电动机产生的转矩传递到腿上。当需要被动扭矩时，直流电动机关闭，MR执行器起制动器作用，提供可控的被动扭矩。制造了开发的MR执行器的原型，并进行了实验以研究MR执行器的特性。结果表明，MR执行器能够提供正常人类活动所需的足够扭矩。提出了用于控制MR执行器的自适应控制。防缠绕策略用于实现更好的控制性能。还对受控制的MR执行器进行了实验，以研究系统的扭矩跟踪能力。

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