Design of a Testing Fixture for the Characterization and Modeling of a Powered Prosthetic Ankle Using a Lorentz Force Actuator
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hamed-yhamed-sb-meche-2024-thesis.pdf
Description
Thesis PDF
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29.1 MB
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Adobe PDF
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b17b45aa85f3f3edf066c23bd062b780
Author(s)
Hamed, Yasin
Advisor(s)
Herr, Hugh
Date Issued
May 2024
Publisher
Massachusetts Institute of Technology
Abstract
Developments in prosthetic ankles have been improving amputee gaits, gradually approaching a more normal, non-amputee gait as designs develop. Currently, powered ankle
prosthetics, or bionic ankles, hold the potential to mold the amputee gait much closer to its biological counterpart. This requires accurate control of the prosthesis and thus requires an
accurate understanding of the plant model characterizing the bionic ankle. It is typically rather difficult to analytically develop such a model, so this project explores an experimental approach through the use of nonlinear stochastic system identification techniques to characterize the prosthetic. Results from initial experiments which use the method for characterizing known linear models revealed unaccounted for sources of error and nonlinearity which future work will attempt to remedy to continue developing such a characterization fixture.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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