The Simulation Research of above Knee Intelligent Prosthesis Based on Computed Torque

The above knee (A/K) intelligent prosthesis controlled by magneto-rheological (MR) damper can compensate the basic movement function of amputees. This paper analyzed the existing torque devices of knee joint and introduced the configuration of A/K intelligent prosthesis controlled by MR damper. Dynamics model was given and virtual prototype was established. The control method based on computed torque was discussed and combined control simulation was done. The result indicates that A/K intelligent prosthesis controlled by MR damper can track human normal gait well.