Artificial leg (prosthesis) has been a leading-edge research object in the fields of robotics and biomedical engineering. In this research, the intelligent artificial legs developed by the United Kingdom and Japan in the middle of the 1990s reflect its newest progress. This paper includes five sections. The first section is an introduction. In section 2, we mainly introduce the study of artificial legs in foreign countries before the early of the 1990s. Section 3 deals with the foreign researches on artificial legs from the early of the 1990s to the present, and its emphasis is focused on the intelligent artificial legs. In section 4, we briefly introduce the domestic research work in this field. In the final section, the development trend towards study of artificial legs is proposed.
This paper presents gait perception and coordinated control of a Biped robot with heterogeneous legs (BRHL), which is a new type of humanoid robot. This paper first introduces the concepts and research objectives of a BRHL. Then configuration of a BRHL is discussed in detail. The coordinated dynamics model and MR damper model are given. Rules based on gait perception are introduced. In the end, this paper discusses the control structure of a BRHL. Simulation and prototype of a BRHL are discussed. The research indicates that intelligent bionic leg controlled by MR damper can track artificial leg's gait well. A BRHL provides an ideal test-bed for advanced intelligent prosthesis.
Berzelius failed to make use of Faraday's electrochemical laws in his laborious determination of equivalent weights.