BIOMIMETIC TRANSFEMORAL PROSTHESIS

摘要

In an artificial limb system having an actuator coupled to a joint for applying a torque characteristic thereto, a control bandwidth of a motor controller for a motor included in the actuator can be increased by augmenting a current feedback loop in the motor controller with a feed forward of estimated back electromotive force (emf) voltage associated with, the motor. Alternatively, the current loop is eliminated and replaced with a voltage loop related to joint torque. The voltage loop may also be augmented with the feed forward of estimated back emf, to improve the robustness of the motor controller.

主权项

1. A method for controlling a motorized, artificial limb having an actuator, the actuator comprising a motor coupled in series with an elastic element, to apply a torque characteristic to a joint, the method comprising the steps of:
applying a voltage to windings of the motor; measuring the torque characteristic at the joint; computing a torque characteristic error as a difference between a target torque characteristic and the measured torque characteristic; and controlling the applied voltage independently of motor current, to reduce the torque characteristic error.