Research on dynamic characteristics of lower limb prosthetic knee joint based on the magnetorheological damper

DANG Kun; ZHEN Liang

doi:10.16578/j.issn.1004.2539.2026.01.008

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Research on dynamic characteristics of lower limb prosthetic knee joint based on the magnetorheological damper

Special Topic of Magnetic Transmission | 更新时间：2026-01-23

- Research on dynamic characteristics of lower limb prosthetic knee joint based on the magnetorheological damper
- Journal of Mechanical Transmission Vol. 50, Issue 1, Pages: 56-66(2026)
- 作者机构：
  
  酒泉职业技术大学甘肃省太阳能发电系统重点实验室，酒泉 735000
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2026.01.008
  CLC： TB535.1
- Received：21 September 2024，
  
  Revised：2024-10-26，
  
  Published：15 January 2026
- 稿件说明：
移动端阅览
党坤，甄亮. 基于磁流变阻尼器的下假肢膝关节动力学特性研究［J］. 机械传动，2026，50（1）：56-66.

DANG Kun，ZHEN Liang. Research on dynamic characteristics of lower limb prosthetic knee joint based on the magnetorheological damper［J］. Journal of Mechanical Transmission，2026，50（1）：56-66.
党坤，甄亮. 基于磁流变阻尼器的下假肢膝关节动力学特性研究［J］. 机械传动，2026，50（1）：56-66. DOI： 10.16578/j.issn.1004.2539.2026.01.008.

DANG Kun，ZHEN Liang. Research on dynamic characteristics of lower limb prosthetic knee joint based on the magnetorheological damper［J］. Journal of Mechanical Transmission，2026，50（1）：56-66. DOI： 10.16578/j.issn.1004.2539.2026.01.008.

摘要

目的

为了解决传统下假肢膝关节阻尼力固定、拟人性差等问题，设计了满足人体下假肢膝关节减振需求的磁流变阻尼器。

方法

通过理论计算，得到了平地行走和平地跑动时膝关节摆动相所需的最大阻尼力，分别为179.6 N和1 377 N；为了适应下假肢的运动状态，设计了满足膝关节摆动相所需阻尼力的减振器；通过数值仿真和试验研究，分析了外磁场扰动和温升效应对磁流变阻尼器动力学特性的影响；并利用下假肢膝关节模拟装置进行了外磁场扰动和温升效应对下假肢膝关节动力学特性影响的试验。

结果

结果表明，随着施加的外扰动磁场磁感应强度的增大，磁流变阻尼器输出的阻尼力增大；在相同条件下，随着磁流变液温度的升高，磁流变阻尼器输出的阻尼力减小；在膝关节的摆动前期和摆动中期的前半阶段，随着外扰动磁场磁感应强度的增大，膝关节运动的滞后性增强，角度误差增大；当外扰动磁场磁感应强度分别为10、20、30 mT时，下假肢膝关节的最大弯曲角度分别为59.0°、57.8°、55.7°，最大角度误差分别达到3.0°、6.8°、11.9°；随着磁流变液温度的升高，膝关节运动的滞后性增强，角度误差增大；当阻尼器温度分别升至30、35、40 ℃时，下假肢膝关节的最大弯曲角度分别为57.1°、54.0°、49.8°，最大角度误差分别达到1.9°、5.1°、9.8°。此结论为基于磁流变阻尼器的下假肢膝关节的设计和优化奠定了基础。

Abstract

Objective

To solve the problems of fixed damping force and poor pseudo-humanity of traditional lower limb prosthetic knee joints

a magnetorheological damper was designed to meet the vibration reduction requirements of the lower limb prosthetic knee joint.

Methods

Through theoretical calculation

the maximum damping forces required for the knee joint swing phase during flat walking and flat running were obtained

which were 179.6 N and 1 377 N respectively. In order to adapt to the motion state of the lower limb prosthesis

a vibration absorber was designed to meet the damping force required by the knee joint swing phase. Through numerical simulation and test research

the influence of external disturbed magnetic field and temperature rise effect on the dynamics characteristics of magnetorheological damper were analyzed. The test of influence of external disturbance magnetic field and temperature rise effect on the dynamics characteristic of the lower limb prosthetic knee joint was conducted by using the lower limb prosthetic knee joint simulator.

Results

The results show that the output damping force of the magnetorheological damper increases with the increasing magnetic flux density of the external disturbed magnetic field. Under the same conditions

the output damping force of the magnetorheological damper decreases with the rising temperature of the magnetorheological fluid. In the early stage of knee joint swing and the first half of its middle stage

with the increase of the magnetic flux density of external disturbed magnetic field

the hysteresis of knee joint movement increases

and the angle error increases. When the magnetic flux density of external disturbed magnetic field is 10

20 and 30 mT respectively

the maximum bending angle of the lower limb prosthetic knee joint is 59.0°

57.8° and 55.7° respectively

and the maximum angle error reaches 3.0°

6.8° and 11.9° respectively. As the rise of the temperature of the magnetorheological fluid

the hysteresis of knee joint movement increases

and the angle error increases. When the temperature of the damper rises to 30

35 and 40 ℃ respectively

the maximum bending angle of the lower limb prosthetic knee joint is 57.1°

54.0° and 49.8° respectively

and the maximum angle error reaches 1.9°

5.1° and 9.8° respectively. These conclusions provide a basis for the design and optimization of the lower limb prosthetic knee joint based on the magnetorheological damper.

关键词

Keywords

references

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