Knee Joint Optimization Design of Intelligent Bionic Leg Based on Genetic Algorithm

Intelligent bionic leg (IBL) is an advanced prosthesis which can maximum functionally simulate and approach the motion trajectory of human leg. Knee joint is the most important bone of human leg and its bionic design has great significance to prosthesis performance. The structural components of IBL are introduced and virtual prototype is given. The advantages of 4-bar knee joint are analyzed and are adopted in IBL design. The kinematics model of 4-bar knee joint is established. The objective function, constraint condition, parameters selection and setting of genetic algorithm are discussed in detail. Based on genetic algorithm, the optimization design of IBL knee joint is done. The optimization results indicate that the 4-bar mechanism can achieve better anthropomorphic characteristics of human knee joint