The gait system research of intelligent bionic leg

Intelligent bionic legs (IBL) controlled by magneto-rheological (MR) damper is an advanced prosthesis. The conception, research purpose and configuration of intelligent bionic leg were introduced. Gait description of human normal gait is detailed using analysis method of finite state machine (FMS). By information gained from six-axis force sensor, the gait perception method of typical gait events and gait states is discussed. The detection of real zero moment point (ZMP) was analyzed and on-line gait adjustment was discussed. In the last, control experiment of gait tracking was done.