The Research of the Four-Bar Bionic Active Knee
The robot joints are usually rotational axis by two link joints, bionic features is not strong. The shortcomings of intelligent MR damper control multi-axis bionic knee can only provide resistance and certain sizes to regain momentum, cannot provide larger power, therefore this paper gives by the multi-axis four-bar structure, ball screw transmission multiaxial bionic active knee institutions. And analysis the human leg institutions and commonly used two-bar structure, through multi-variable optimization method to solve the design parameters of knee joint structure, the motor angular velocity and torque. And established in a bionic active the knee's virtual prototype.
K. J. Kim et al., "The Research of the Four-Bar Bionic Active Knee", Advanced Materials Research, Vols. 308-310, pp. 1988-1991, 2011