Modeling and Parameter Estimation of an Actuator for Prosthetic Joints

Bartholomew J. Brown; Katherine Florek; Hanz Richter

Modeling and Parameter Estimation of an Actuator for Prosthetic Joints

Bartholomew J. Brown
, Katherine Florek
, Hanz Richter

Cleveland State University

Research output: Contribution to journal › Article › peer-review

Abstract

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.

Original language	American English
Journal	Default journal
State	Published - Sep 4 2014

Disciplines

Engineering

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Modeling and Parameter Estimation of an Actuator for Prosthetic JFinal published version, 213 KBLicense: CC BY

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title = "Modeling and Parameter Estimation of an Actuator for Prosthetic Joints",

abstract = " 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.",

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AU - Brown, Bartholomew J.

AU - Florek, Katherine

AU - Richter, Hanz

PY - 2014/9/4

Y1 - 2014/9/4

N2 - 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.

AB - 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.

UR - https://engagedscholarship.csuohio.edu/u_poster_2014/6

M3 - Article

JO - Default journal

JF - Default journal

ER -

Modeling and Parameter Estimation of an Actuator for Prosthetic Joints

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