Biomimetic transfemoral prosthesis

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 estima...

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Bibliographic Details
Main Authors Han Zhixiu, Barnhart Christopher Eric, Herr Hugh Miller, Rohrs Charles E, Casler, Jr. Richard J, Williams Christopher
Format Patent
LanguageEnglish
Published 22.08.2017
Subjects
BANDAGES, DRESSINGS OR ABSORBENT PADS
DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF,TUBULAR STRUCTURES OF THE BODY, E.G. STENTS
FILTERS IMPLANTABLE INTO BLOOD VESSELS
FIRST-AID KITS
FOMENTATION
HUMAN NECESSITIES
HYGIENE
MEDICAL OR VETERINARY SCIENCE
ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES
PROSTHESES
TREATMENT OR PROTECTION OF EYES OR EARS
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Summary: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.
Bibliography:Application Number: US201214355657