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

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.