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A mathematical model was developed for a linear actuator to be used in a powered leg prosthesis. The model consists of a differential equation relating motor voltage, external force and velocity. All model parameters were known from manufacturer's data, except inertia and friction. A numerical simulation was prepared to estimate these parameters from experimental data. Experiments were conducted and a numerical search was performed to arrive at parameter values that closely fit the data. The mathematical model will be used in subsequent control development work.
Brown, Bartholomew J.; Florek, Katherine; and Richter, Hanz, "Modeling and Parameter Estimation of an Actuator for Prosthetic Joints" (2014). Undergraduate Research Posters 2014. 6.