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Optimal design and control of an electromechanical transfemoral prosthesis with energy regeneration
- Source :
- PLoS ONE, PLoS ONE, Vol 12, Iss 11, p e0188266 (2017)
- Publication Year :
- 2017
- Publisher :
- Public Library of Science, 2017.
-
Abstract
- In this paper, we present the design of an electromechanical above-knee active prosthesis with energy storage and regeneration. The system consists of geared knee and ankle motors, parallel springs for each motor, an ultracapacitor, and controllable four-quadrant power converters. The goal is to maximize the performance of the system by finding optimal controls and design parameters. A model of the system dynamics was developed, and used to solve a combined trajectory and design optimization problem. The objectives of the optimization were to minimize tracking error relative to human joint motions, as well as energy use. The optimization problem was solved by the method of direct collocation, based on joint torque and joint angle data from ten subjects walking at three speeds. After optimization of controls and design parameters, the simulated system could operate at zero energy cost while still closely emulating able-bodied gait. This was achieved by controlled energy transfer between knee and ankle, and by controlled storage and release of energy throughout the gait cycle. Optimal gear ratios and spring parameters were similar across subjects and walking speeds.
- Subjects :
- Male
030506 rehabilitation
Knee Joint
Computer science
Physiology
medicine.medical_treatment
Knees
lcsh:Medicine
Walking
Knee Joints
Prosthesis
0302 clinical medicine
Gait (human)
Medicine and Health Sciences
Femur
lcsh:Science
Musculoskeletal System
Gait
Prosthetics
Multidisciplinary
Physics
Classical Mechanics
Transfemoral prosthesis
Power (physics)
Biomechanical Phenomena
medicine.anatomical_structure
Physical Sciences
Legs
Engineering and Technology
Female
Anatomy
0305 other medical science
Knee Prosthesis
Research Article
Biotechnology
Optimal design
Adult
Artificial Limbs
Capacitors
Prosthesis Design
03 medical and health sciences
Motion
Control theory
Mechanical Energy
medicine
Torque
Humans
Mechanical energy
Biological Locomotion
lcsh:R
Limbs (Anatomy)
Ankles
Biology and Life Sciences
Preferred walking speed
Assistive Technologies
Joints (Anatomy)
Energy Transfer
lcsh:Q
Medical Devices and Equipment
Ankle
Electronics
030217 neurology & neurosurgery
Ankle Joint
Subjects
Details
- Language :
- English
- ISSN :
- 19326203
- Volume :
- 12
- Issue :
- 11
- Database :
- OpenAIRE
- Journal :
- PLoS ONE
- Accession number :
- edsair.doi.dedup.....1de0d6b4dcb373dc6d1fd0594468300f