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Controller Implementation of a Powered Transtibial Prosthetic Device

[+] Author Affiliations
Jinming Sun, Philip A. Voglewede

Marquette University, Milwaukee, WI

Paper No. DETC2011-47957, pp. 597-603; 7 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME


A new type of powered transtibial prosthesis was designed and fabricated. This device has reasonable size, weight and strength for daily use. In order to test the device on human subjects, a control algorithm and a control system are required. A two level control algorithm, which includes a higher level finite state controller and lower level PID controllers, is proposed and the configuration of this system is presented in this paper. An absolute encoder, a current sensor and two sets of force-sensing resistors are used to provide the feedback; a dSPACE system and MATLAB Simulink are used to realize the higher level control, and a DC motor controller is used to realize the lower level PID controller.

Copyright © 2011 by ASME



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