Sun, Jinming

Voglewede, Philip A.

English

epublications@Marquette

Marquette Universitye-Publications@MarquetteMechanical Engineering Faculty Research andPublications Engineering, College of8-13-2012Controller Design and Preliminary Testing of aPowered Below-Knee Prosthetic DevicePhilip A. VoglewedeMarquette University, philip.voglewede@marquette.eduJinming SunMarquette UniversityAbstract of presentation published as part of the proceedings of the conference ASME 2012International Design Engineering Technical Conferences & Computers and Information in EngineeringConference, 2012. Publisher link. © American Society of Mechanical Engineers 2012.ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference - IDETC/CIE 2012file:///I|/Projects/IR/Faculty_Students/College_Engineering/Voglewede/PaperAccepted.cfm.htm[1/4/2013 10:04:59 AM]DETC2012-71010 Technical PublicationController Design and Preliminary Testing of A Powered Below-Knee Prosthetic DeviceAuthorsJinming Sun, Marquette UniversityPhilip Voglewede, Marquette UniversityAbstract    A powered lower limb prosthesis, which consists of a four bar mechanism, a torsional spring and a brushed DCmotor, was previously designed and fabricated. To regulate the motor power input, a two level controller wasproposed and built. The control algorithm includes a higher level finite state controller and lower level PIDcontrollers. A digital signal processor (DSP) control board and MATLAB Simulink are used to realize the higherlevel control and a DC motor controller is used to realize the lower level PID control. Controller Area Network(CAN) communication was used to communicate between the two level controllers. To preliminarily test if themotor can generate required power, a bench test was performed. The results show that the motor needs to beoverpowered to achieve the required moment.    Session: MR-3-2 Walking Mechanisms and Robots - Dynamics and Control

Controller Design and Preliminary Testing of a Powered Below-Knee Prosthetic Device

https://epublications.marquette.edu/cgi/viewcontent.cgi?article=1005&amp;context=mechengin_fac

Controller Design and Preliminary Testing of a Powered Below-Knee Prosthetic Device

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