Dynamic Modeling of Magnetorheological Damper Based Three-link Model for Human Lower Limb

Orthotic devices are very crucial in supporting the individuals with movement impairment and they help ease the burden of treatment and rehabilitation. The research is devoted to the development and result analysis of novel smart orthotic model used along with magneto-rheological (MR) damper. This is due to the fact that MR damper has a unique characteristic of mechanically adapting itself in real time by changing stiffness and damping through an applied magnetic field to achieve control and adaptation. The model design procedure comprises of the development of MR damper based exoskeleton with an actual human lower limb, to maintain flexibility and improve the efficiency of affected limb. Main focus of this research work is to improve the complaince of the affected lower limb joint as compared with healthier one. Extensive evaluations and validation tests were performed in order to test its efficiency. These assessments contained the simulated studies through Matlab software. Preliminary results showcase the MR damper-based orthotic device’s ability to dynamically adjust its stiffness to optimize support while allowing controlled movement. Additionally, in comparison with 2 link modeling, the 3-link model has shown promising outcomes which could further be used for advanced control algorithms. This research work contributes to the advancement of orthotic technology by leveraging MR damper capabilities, offering a novel approach to personalized and adaptable support for individuals with movement impairments.