Controller Design and Implementation for a Powered Prosthetic Knee

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" Controller Design and Implementation for a Powered Prosthetic Knee "
Rosa, Matthew David Kazerooni, Homayoon

Document Type	:	Latin Dissertation
Language of Document	:	English
Record Number	:	906382
Doc. No	:	TL0bh2s1f3
Main Entry	:	Rosa, Matthew David
Title & Author	:	Controller Design and Implementation for a Powered Prosthetic Knee\ Rosa, Matthew DavidKazerooni, Homayoon
College	:	UC Berkeley
Date	:	2012
student score	:	2012
Abstract	:	Powered prosthetic knees offer many improvements over passive devices; however, the added actuation is difficult to control due to the lack of input from the user. A means of controlling a powered prosthetic knee is proposed by predicting the type of swing behavior the knee must perform based on the position of the foot relative to the person during toe-off. The software to accomplish this is implemented via a finite state machine which activates specific knee angle reference generators for each state. The reference generators serve as the input of a nonlinear feedback controller to ensure accurate positioning of the knee joint.
Added Entry	:	Kazerooni, Homayoon
Added Entry	:	UC Berkeley