Magnetorheological Damper Control

in a Leg Prosthesis Mechanical

Cesar H. Valencia1, Marley Vellasco1, Ricardo Tanscheit1, and Karla T. Figueiredo2

1
Electric Engineering Department,
Pontifical Catholic University of Rio de Janeiro (PUC-Rio)
R. Marquês S. Vicente 225 – Gávea, Rio de Janeiro, RJ, Brazil
2 State University of West District (UEZO)

Av. Manuel Caldeira de Alvarenga 1203 – Campo Grande, Rio de Janeiro, RJ, Brazil
{chvn,marley,ricardo,karla}@ele.puc-rio.br

Abstract. Different models of controllers has proven to be feasible for specific

tasks in equipment designed for people with physical disabilities, this paper
presents and evaluates the design and simulation of a fuzzy controller for a
Magneto-Rheological damper embarked on a Prosthetic Leg Mechanics. As
additionally, it was characterized the behavior of the damper in a fuzzy
inference system to evaluate its behavior within the proposed control system.
The ultimate goal of the control is to decrease the force exerted by the knee;
which is used to the full dynamic range of the Magnetorheological Damper
(MRD). The extraction of fuzzy rules for the controller used the behavior of the
angle of the knee, the knee strength and percentage of gait and for extracting
rules were considered MRD damper characteristics of the dynamic response as
the strength, the power and the speed of the piston.

1 Introduction

Technological advances offer new challenges in instrumentation and control systems.

The case study considered in this work makes use of growing need to develop models
that have the ability to adapt and respond appropriately.
The article presents a proposal for fuzzy logic control of a prosthetic mechanical
leg used for disabled people. In general, low cost prosthetics have dynamic
cushioning systems and those who have them, show a very high market value. Doing
the controller design to embark a magnetorheological damper on the prosthesis,
would offer a possible alternative with high comfort to the end user.
The controller design was done by modeling human gait, which is recurrent. There
have been different ways of subdividing human gait. For the present work, the stages
were divided in four, according to the model presented in Bohara (2006).
Usage of a MRD shock absorber is based on its ability to enjoy the properties of
the magneto rheological fluid which viscosity is controlled by a magnetic field. The
change of state occurs in a short time (ms), allowing precise control.
Problem formulation is presented in section 2; modeling the controller that
considers the stages of travel and the characteristics of the damper are presented in

© Springer International Publishing Switzerland 2015 805

J.-H. Kim et al. (eds.), Robot Intelligence Technology and Applications 3,
Advances in Intelligent Systems and Computing 345, DOI: 10.1007/978-3-319-16841-8_73
806 C.H. Valencia et al.

section 3; simulations resullts are presented in section 4, and finally section 5 reports
the findings of the developeed work.

2 Problem Formu
ulation

A MRD has the advantaage of being a semi active damper, ie, combining the
properties of passive dampeers for low power required for its control and the advanttage
of active dampers to have a dynamic response. Its control is a difficult task due too its
high nonlinearity. Control algorithms for traditional MRD are highly complex and
implementation requires a considerable computational burden, which is why drivvers
that use methods of compu utational intelligence as exhibited in Atray (2003), Schuurter
(2000-2001) and (Jang 1995 5) are developed obtaining satisfactory results.
Our objectives in this wo ork are generating a Fuzzy controller for the MRD usedd in
mechanical prosthetic legs and validate fuzzy MRD from model to observe its outtput
force to the level of current resulting from the controller.

3 Fuzzy Controlleer Modeling

To model the controller was w established as an objective to reduce the force on the
knee in those points that do o not modify the maximum force in the knee point wherre it
is equal to 0. For this, theree were used angle and force knee values of the 4 modes of
human gait according to Bo ohara (2006).
Next, the used input varriables are presented, the characteristics of the MRD, and
the controller design.

3.1 Stages of Human Gait

G

Figure 1 lists the 4 modess of human gait identified Bohara (2006), namely mode1
"Stance Flexion / Extension
n" mode 2 "PreSwing" mode 3 "Swing Flexion" and m mode
4 "Swing Extension”.

Fig. 1. Stagees of Human Gait. Adapted from (Bohara, 2006)

The mathematical modeel presented in Uyar (2009) was used as a reference. T

The
behavior of human gait, in equation
e 1 is presented in the model by Uyar.
 Magnetorheological Damper Control in a Leg Prosthesis Mechanical 807

⎡ J 0 + J1 + 2 J1 cos θ 2 − J1 cos θ 2 − J1 cos θ 2 ⎤ ⎡θ1 ⎤

⎢ − J cos θ − J ⎥⎢ ⎥ +
⎣ 1 2 3 J3 ⎦ ⎣θ 2 ⎦
⎡
θ 2 + J1 θ 2 sin θ 2 ⎤⎥
• • • (1)
⎢− 2 J1 θ1 θ 2 sin
• • +
⎢ J1 θ1 θ 2 sin θ 2 ⎥
⎣ ⎦
⎡G1 sin θ1 + G2 sin(θ1 − θ 2 )⎤ ⎡T1 ⎤
⎢ − G2 sin(θ1 − θ 2 ) ⎥ = ⎢T ⎥
⎣ ⎦ ⎣ 2⎦

Where, J0, J1, J2 e J3 are the parameters of the kinetic energy and G1 e G2 are the
ones of potential energy in the gait dynamic analysis.
In Figures 2 and 3 are shown the curves of knee angle and force; these being
defined in 4 modes of travel.

Fig. 2. Knee angle. adapted from (Bohara, 2006)

Fig. 3. Force Knee. adapted from (Bohara, 2006)

Experiments for this curves were performed in subjects with 75Kg weight in a
complete gait cycle.
808 C.H. Valencia et al.

3.2 MRD Response

The use of a MRD allows taking advantage of the iron particles content in the fluid.
So that, when they are exposed to a magnetic field, they form aligned chains changing
the viscosity of the fluid. Figure 4 presents the 3 states of ferrous particles when
exposed to a magnetic field.

Fig. 4. Activation of the fluid. (Koo, 2003)

Figure 5 shows the composition of the MRD where the piston rod performs the
compression and expansion movements to be controlled mechanical prosthesis.

Fig. 5. MRD Schematics. (Koo, 2003)

Trying to describe the nonlinear characteristics of MRD, 3 mathematical models

which consider different variables for the dynamics were selected. The first one is the
Milecki and Sedziak, which is given by equation 2.

Fd ( s) = ((kv μ ) + Dtl )v( s)

⎡ kh − β v( s ) ⎤ (2)
+⎢ U ( s) + Ftme ⎥ × sgn[V ( s)]
⎣ (Tm s + 1)(Te s + 1) ⎦
In that one, the considered characteristics are: nonlinear friction, non-linearities of the
magnetic field and the attributes of the magneto-rheological fluid. In the Bingham
model predicts a Newtonian flow, taking into account the coefficient of viscous
damping and the magnitude of the frictional force Coulomb, as shown in Equation 3.
 Magnetorheological Damper Control in a Leg Prosthesis Mechanical 809

please always cancel any superfluous definitions that are not actually used in your
text. If you do not, these may conflict with the definitions of the macro package,
causing changes in the structure of the text and leading to numerous mistakes in the
proofs.

• •
F = f c sgn( x) + co x + f o (3)

Finally, the Bingham modified model, or visco elastoplastic, is shown in equations 4

and 5. It takes into account the friction elements over the previous model, the
coefficient of rigidity and flow speed.

•
F = k1 ( x2 − x1 ) + c1 x + f o (4)

F = k 2 ( x3 − x2 ) + f o (5)

In Figure 6 is shown the dynamic damper considering the speed of piston

displacement, the applied current, and the generated force.

Fig. 6. MRD Dynamic´s. (Tusset, 2008)

In figure 7 is shown an example of an embedded MRD in a mechanical prosthesis

"C-Leg from Otto Bock," to absorb knee impacts.
810 C.H. Valencia et al.

Fig. 7. MRD embeded on a mechanical prosthesis.

3.3 Controller Design

The controller design using fuzzy logic seeks to exercise dominion in the shock
absorber variable; in this case said linguistic variable output is current. As input
variables were considered the stage of the march, angle, and knee force.
Figure 8 presents the schematic of the designed controller. Said controller has the
following settings:
− Type Fuzzy Inference: Mamdani.
− Operator "or": Min.
− Operator "and": Max.
− Defuzzyfication: Center of Mass.
− Implication Method: Min.
− Aggregation Method: Maximum.

Fig. 8. Controller Block Diagram

In Figure 9, the variable gait stage is shown. This refers to the modes described
above, i.e., six words "Esti", "Est1", "Est2", "Est3", "Est4" and "Estf" universe where
speech covers a cycle that is a complete gait cycle.
 Magnetorheological Damper Control in a Leg Prosthesis Mechanical 811

Fig. 9. Sets for Input Variable "Stage Gait"

In figure 10 are presented the terms of the angle variable, which are 6 in total:
"Angi" "VLos", "Low", "Medium", "High" and "Angf" with a universe of discourse
from 0 to 80 degrees, which are values in the characteristic curve of the human gait

Fig. 10. Sets for Input Variable “Angle”

In figure 11 are presented the 7 terms "Fi", "VLow", "Low", "Medium", "High",
"VHigh" and "Ff", these represent the behaviour of the force in Newtons from -70N
to 40N. Such values were adopted from the characteristic force curve previously
mentioned.

Fig. 11. Sets for Input Variable “Force”

Figure presents 12 the terms used in the output current variable. In total, there are
13 terms that represent typical values that can be used in the MRD.
812 C.H. Valencia et al.

Fig. 12. Sets for Input Variable “Current”

There were 82 used rules in order to reach the initially stated purpose, "decrease
the force on the knee at those points where no change is maximum and the force on
the knee point where it is equal to 0."
Figure 13 presents the control surface obtained. One can see the regions where the
current is 0, ie to ensure no interference of MRD in march when one has force values
equal to 0.

Fig. 13. Current vs Force vs Stage Gait.

3.4 MRD Fuzzy Modelling

In order to evaluate the performance of an alternative modelling Fuzzy MRD was

proposed an inference system shown in Figure 14. The following are configuration
characteristics.
− Type Fuzzy Inference: Mamdani.
− Operator "or": Min.
− Operator "and": Max.
− defuzzyfication: Center of Mass.
 Magnetorheological Damper Control in a Leg Prosthesis Mechanical 813

− Implication Method: Min.

− Aggregation Method: Max.

Fig. 14. MRD Block Diagram Modeling

As linguistic input variables were used operating Current with 6 sets, the piston´s
speed displacement with 5. As output variable was used the force with 7 sets.
25 rules were generated in full to perform MRD modelling. Figure 15 shows the
control obtained surface.

Fig. 15. Force vs Speed vs Current

The presented vales shown in Figure 6 for the control surface are consistent with
the MRD dynamic response.

4 Results

Tests were done using the block diagram of Figure 16, where MRD modelling was
done with two configurations. The first was with the modified Bingham model while
the second used Fuzzy Logic. The best response was for the first one.
814 C.H. Valencia et al.

Fig. 16. Diagram of the Proposed Controller

In Figure 17 are shown the signals provided as inputs to the controller. It has the
percentage of gait, the angle and strength of the knee.

Fig. 17. Inputs Signals

The first result to be displayed is the response using (PID-MRD) PID controller.
This driver was developed in earlier work and showed decreased strength in selected
points. The response is shown in Figure 18.
In Figure 19 are presented the results using the fuzzy controller and the modified
Bingham (FC-MB-MRD) model. It is observed that the results obtained for the
selected points were better compared to the previous test.
Finally it is shown in Figure 20 the response using the controller and the Fuzzy
MRD modelling (FC-FMRD). It is shown that the results achieved proposed goals,
however, with some difficulties.
 Magnetorheological Damper Control in a Leg Prosthesis Mechanical 815

Fig. 18. MRD-PID Result

Fig. 19. Fuzzy Controller-MB-MRD Result.

There were selected 5 critical points were the force reached threshold value and it
can be observed in Figure 17.
In Table 1 are presented the values of strength at critical points in order to establish
the performance of the two sets of models.
The results obtained for knee force after using the MRD fuzzy modeling decreased
in selected critical points gait percentage (P1→2%, P2→14%, P3→44%, P4→60% e
P5→96%). Besides, those zero points did not have significant changes in magnitude.
816 C.H. Valencia et al.

Fig. 20. Fuzzy Controller-FuzzyMRD Result.

Table 1. Results for used model

Model P1 P2 P3 P4 P5
MRD 12,4 -50,1 21,2 21,2 11,5
PID-MRD 7,8 -42,3 14,8 14,8 6,3
FC-MB-MRD 6,9 -40,7 13,2 13,2 5,1
FC-FMRD 6,7 -41,5 13,3 13,3 5,6

5 Conclusions

The use of fuzzy logic in designing controllers establishes a close relation with a
specialist. Various configurations used did not show the expected results inducing a
continuous reassessing of elements that constitute the system (variables, sets and
rules) results.
The goals set were achieved in both models. However, points that generated
unintended slight changes were observed, ie, values resulting force that could disrupt
the march.
Settings for different sets of input and output variables are used in the
implementation of the controller design. In the case of the input variables of the form
sets directly affects the region of influence of the rules being that the triangular sets
showed the best response.
The computational cost of the proposed model is similar to PID controller,
allowing it to be feasible to use in a real prosthesis, some relevant aspects like a
implementation of necessary code in the device hardware are the next research focus.
The ease abstraction of desired behavior for each chosen critical point can justify
the decision to work with Fuzzy Logic, always that all characteristics are supervised
for the specialist for create the rules bank.
 Magnetorheological Damper Control in a Leg Prosthesis Mechanical 817

The future research objectives are: proposed model behavior with the real
hardware, ease adjusts the rules and model elements for different user configurations
and finally implementation cost of proposed model in a prosthesis for default.

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