Improving the gait of transfemoral amputees and making it biomimetic and stable has always been a major effort. A dynamic model of the prosthetic device can predict the kinetic and kinematic performances, when incorporated with a musculoskeletal model. In this regard, a dynamic model of a recent trend of variable damping technology will help a great deal in evaluating the performance of the prosthetic device and also in studying the effect of various parameters on the prostheses. The current paper presents the dynamic model of a single axis two segmental prosthetic knee implemented with a magneto-rheological (MR) damper as a variable damping element. The MR damper is modeled mathematically using Bouc–Wen model with model parameters evaluated by minimizing the error norms for time, displacement and velocity between the experimental and the model-generated results using a genetic algorithm. Two different experimental data sets are used, one for mathematical modeling and other to assess the accuracy of the fit model. A Proportional Derivative plus Controlled Torque controller is employed, and the parameters are tuned to minimize the error between the desired and control input torques. Further, an inverse dynamic model using Bouc–Wen model variables is assumed and validated later. This model predicts the current directly and avoids the necessity of solving any quadratic equation, which is required in the case of inverse models based on modified Bouc–Wen. The dynamic model of the prosthesis is analyzed for the swing phase alone, and the results show that the model traces the desired knee angle and also the shank reaches full knee extension at the end of this phase with terminal velocity small enough to be handled by an extension stop.

改善经股截肢者的步态并使其仿生和稳定一直是一项重大的工作。当与肌肉骨骼模型结合时，假肢装置的动态模型可以预测动力学和运动学性能。在这方面，可变阻尼技术的最新趋势的动态模型将在很大程度上有助于评估假体装置的性能以及研究各种参数对假体的影响。当前的论文提出了以磁流变（MR）阻尼器作为可变阻尼元件实现的单轴两段假肢膝关节的动力学模型。MR阻尼器使用Bouc–Wen模型进行数学建模，并通过最小化时间误差范数来评估模型参数，使用遗传算法在实验和模型生成的结果之间的位移和速度。使用了两种不同的实验数据集，一种用于数学建模，另一种用于评估拟合模型的准确性。使用比例微分加受控扭矩控制器，并调整参数以最小化所需输入扭矩和控制输入扭矩之间的误差。此外，假设使用Bouc–Wen模型变量的逆动力学模型并在以后进行验证。该模型直接预测电流，并且避免了求解任何二次方程式的必要性，这在基于改进的Bouc–Wen的逆模型中是必需的。仅针对摆动阶段分析假体的动力学模型，