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Optimal design and control for an artificial leg : energy consumption minimization

Tummers, Matthias
(2016)

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Details

Supervisors
Ronsse, Renaud
Faculty
Ecole polytechnique de Louvain
Degree label
Master [120] : ingénieur civil biomédical
Abstract
This work proposes the design of a model for a new IVT based mechanism for an active transfemoral ankle-knee prosthesis. Most importantly, it accurately models the energy losses during the energy transfers in the prosthesis. Further, a control architecture is developed and tuned to torque-control the prosthesis in various tasks while minimising the total energy consumption of the actuators. Additionally, a simplified dynamic model of the ankle is used to investigate the behaviour of the prosthesis in a real situation. The models and controllers were validated with experimental results.