Optimal Design of a Transfemoral Prosthesis with Energy Storage and Regeneration
Document Type
Conference Proceeding
Publication Date
2014
Publication Title
American Control Conference
Abstract
We describe the preliminary optimal design of an electromechanical above-knee active prosthesis with energy storage and regeneration. A DC motor-generator applies a positive or negative torque to the knee. The control system regulates the exchange of energy between the motor-generator and a supercapacitor. The central idea of the design is motivated by the mechanics, energy management, and sensor-based control that constitute human movement. We use biogeography-based optimization, which is an evolutionary algorithm, to optimize the system parameters, and we evaluate its performance with Simulink® models. We optimize three alternative prosthesis designs. Simulation results indicate that the prosthesis can be optimized to achieve knee angle tracking with an RMS error on the order of 0.2 degrees.
Repository Citation
Rarick, Rick; Richter, Hanz; van den Bogert, Antonie J.; Simon, Daniel J.; Warner, Holly; and Barto, Taylor, "Optimal Design of a Transfemoral Prosthesis with Energy Storage and Regeneration" (2014). Electrical and Computer Engineering Faculty Publications. 348.
https://engagedscholarship.csuohio.edu/enece_facpub/348
Original Citation
R. Rarick, H. Richter, A. van den Bogert, D. Simon, H. Warner and T. Barto, "Optimal design of a transfemoral prosthesis with energy storage and regeneration," in 2014 American Control Conference, 2014, pp. 4108-4113.
DOI
10.1109/ACC.2014.6859051
Comments
This work was supported by Grant 0826124 in the CMMI Division of the Engineering Directorate of the National Science Foundation and by the Wright Center for Sensor Systems Engineering for the State of Ohio.