Human gait cycle. 28 

Human gait cycle. 28 

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The damping characteristic of a healthy limb changes throughout the gait cycle. However, for amputees who are wearing mechanically passive damping prosthesis, the lack of ability to change the damping values might expose them to injuries and health problems. The use of magnetorheological fluid damper in prosthetic limb, which provides wide dynamic...

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... the case of PID controller, the input is at a single frequency. To exhibit the performance of the controller at varying frequency, chirp signal was used as the input in Simulink. From Figure 14, it is shown that PID controller is not capable of controlling the vibration at varying frequency. Thus, fuzzy logic was integrated to the PID controller, to further enhance the performance of the controller. The F-PID works by adjusting the value of k p , k i and k d required by the system. Initially, the equation describing the PID controller was expressed ...
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... t (s) Figure 12. Response of the system using PID ...
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... general, the control system block diagram of MRF damper in transtibial prosthetic limb is shown in Figure 10. In this section, only system controller was studied. To represent the process represented by 'Damper controller' and 'MRF damper' blocks, a look-up table is used in the simulation. The look-up table contains experimental data, which was done ...
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... was then rewritten as Figure 11. Control system block ...
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... controller was first used to run the system and its control system block diagram is pictured in Figure 11. Here, the values of K p , K i and K d were set to 5, 15 and 2, respectively. The input applied was in the form of a pulse. The PID controller will determine the amount of force needed to reduce the effect of the force experienced during an impact. The required damping force from the system will be passed to the MRF damper in transtibial pros- thetic limb plant, which will then decide the amount of current to be used for the required damping force. In this work, the data obtained through the experiment were added in a look-up table. The response of the system is shown in Figure 12, along with the plots of damping force generated, shown in Figure ...
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... controller was first used to run the system and its control system block diagram is pictured in Figure 11. Here, the values of K p , K i and K d were set to 5, 15 and 2, respectively. The input applied was in the form of a pulse. The PID controller will determine the amount of force needed to reduce the effect of the force experienced during an impact. The required damping force from the system will be passed to the MRF damper in transtibial pros- thetic limb plant, which will then decide the amount of current to be used for the required damping force. In this work, the data obtained through the experiment were added in a look-up table. The response of the system is shown in Figure 12, along with the plots of damping force generated, shown in Figure ...
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... controller was first used to run the system and its control system block diagram is pictured in Figure 11. Here, the values of K p , K i and K d were set to 5, 15 and 2, respectively. The input applied was in the form of a pulse. The PID controller will determine the amount of force needed to reduce the effect of the force experienced during an impact. The required damping force from the system will be passed to the MRF damper in transtibial pros- thetic limb plant, which will then decide the amount of current to be used for the required damping force. In this work, the data obtained through the experiment were added in a look-up table. The response of the system is shown in Figure 12, along with the plots of damping force generated, shown in Figure ...
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... controlled outputs of the system, using PID and F-PID controllers are plotted in Figure 14. It is clear that the implementation of F-PID controller manages to suppress the vibration and thus protecting the whole struc- ture of the prosthetic limb as well as the ...
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... t (s) Figure 13. Damping force from MRF ...
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... t (s) Figure 14. Comparison of the response of the system using PID and F-PID controllers. ...
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... gait cycle comprises of two main phases which are stance phase and swing phase. Stance phase, which occurs around 60% of the normal human walking cycle, is the moment at which the foot is in contact with the ground whereas swing phase refers to the period when the foot is in the air. The gait cycle can be further classified into eight phases based on the knee motion and angular velocity. 27 These phases are initial contact (heel strike), loading response, mid-stance, terminal stance, pre-swing, initial swing (toe-off), mid swing and terminal swing (Figure ...

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... In recent decades, MR dampers (MRD) have become very popular in controlling vibration in structural and rotordynamics systems. In the last 20 years, MRD has been used to attenuate vibration in various applications like suspension systems in the high-speed train [1,2], buildings and bridges [3][4][5], large washing machines [6][7][8], aircraft landing gear [9,10], helicopter rotor systems [11], and advanced exoskeleton system [12,13], etc. The MRF consists of base oil (silicon oil, mineral oil, synthetic oil), magnetic particles (electrolytic iron, carbonyl iron, nickel, cobalt), additives (aerosol 200, white grease, oleic acid), and surfactants (oleic acid, citric acid). ...
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Chapter
Magnetorheological fluid is a field-responsive material. The rheological properties of magnetorheological fluid can be precisely controlled and reversed. This change in rheological property controls the damping force by an externally applied magnetic field and makes them suitable for automotive, structural, manufacturing, and military applications. In the last two decades, it has gained a significant impact in the field of intelligent healthcare devices. Various biomedical devices had been developed to mimic and restore the gait cycle for the amputees. However, MR-based devices provide real-time controlled damping to improve the gait cycle. This review briefly discusses the tailor-made properties of magnetorheological fluid based on their constituents and stabilization methods. And, it also addresses the significant contributions of magnetorheological fluid in the lower-limb prosthetic devices.KeywordsMagnetorheological fluidProsthetic devicesSemi-active devices