Optimal design of a transfemoral prosthesis with energy storage and regeneration

Rick Rarick; Hanz Richter; Antonie Van Den Bogert; Dan Simon; Holly Warner; Taylor Barto

doi:10.1109/ACC.2014.6859051

Optimal design of a transfemoral prosthesis with energy storage and regeneration

Rick Rarick
, Hanz Richter
, Antonie Van Den Bogert
, Dan Simon
, Holly Warner
, Taylor Barto

Cleveland State University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

16 Scopus citations

Abstract

We describe the preliminary optimal design of an electromechanical above-knee active prosthesis with energy storage and regeneration. A DC motor-generator applies a positive or negative torque to the knee. The control system regulates the exchange of energy between the motor-generator and a supercapacitor. The central idea of the design is motivated by the mechanics, energy management, and sensor-based control that constitute human movement. We use biogeography-based optimization, which is an evolutionary algorithm, to optimize the system parameters, and we evaluate its performance with Simulink® models. We optimize three alternative prosthesis designs. Simulation results indicate that the prosthesis can be optimized to achieve knee angle tracking with an RMS error on the order of 0.2 degrees. © 2014 American Automatic Control Council.

Original language	English
Title of host publication	Proceedings of the American Control Conference
Place of Publication	usa
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4108-4113
Number of pages	6
ISBN (Print)	9781479932726
DOIs	https://doi.org/10.1109/ACC.2014.6859051
State	Published - Jan 1 2014
Event	2014 American Control Conference, ACC 2014 - Portland, OR, United States Duration: Jun 4 2014 → Jun 6 2014

Conference

Conference	2014 American Control Conference, ACC 2014
Country/Territory	United States
City	Portland, OR
Period	06/4/14 → 06/6/14

Keywords

Biologically-inspired methods
Modeling and simulation
Optimization algorithms

Access to Document

10.1109/ACC.2014.6859051

Cite this

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title = "Optimal design of a transfemoral prosthesis with energy storage and regeneration",

abstract = "We describe the preliminary optimal design of an electromechanical above-knee active prosthesis with energy storage and regeneration. A DC motor-generator applies a positive or negative torque to the knee. The control system regulates the exchange of energy between the motor-generator and a supercapacitor. The central idea of the design is motivated by the mechanics, energy management, and sensor-based control that constitute human movement. We use biogeography-based optimization, which is an evolutionary algorithm, to optimize the system parameters, and we evaluate its performance with Simulink{\textregistered} models. We optimize three alternative prosthesis designs. Simulation results indicate that the prosthesis can be optimized to achieve knee angle tracking with an RMS error on the order of 0.2 degrees. {\textcopyright} 2014 American Automatic Control Council.",

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author = "Rick Rarick and Hanz Richter and \{Van Den Bogert\}, Antonie and Dan Simon and Holly Warner and Taylor Barto",

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Rarick, R, Richter, H, Van Den Bogert, A, Simon, D, Warner, H & Barto, T 2014, Optimal design of a transfemoral prosthesis with energy storage and regeneration. in Proceedings of the American Control Conference., 6859051, Institute of Electrical and Electronics Engineers Inc., usa, pp. 4108-4113, 2014 American Control Conference, ACC 2014, Portland, OR, United States, 06/4/14. https://doi.org/10.1109/ACC.2014.6859051

Optimal design of a transfemoral prosthesis with energy storage and regeneration. / Rarick, Rick; Richter, Hanz; Van Den Bogert, Antonie et al.
Proceedings of the American Control Conference. usa: Institute of Electrical and Electronics Engineers Inc., 2014. p. 4108-4113 6859051.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - We describe the preliminary optimal design of an electromechanical above-knee active prosthesis with energy storage and regeneration. A DC motor-generator applies a positive or negative torque to the knee. The control system regulates the exchange of energy between the motor-generator and a supercapacitor. The central idea of the design is motivated by the mechanics, energy management, and sensor-based control that constitute human movement. We use biogeography-based optimization, which is an evolutionary algorithm, to optimize the system parameters, and we evaluate its performance with Simulink® models. We optimize three alternative prosthesis designs. Simulation results indicate that the prosthesis can be optimized to achieve knee angle tracking with an RMS error on the order of 0.2 degrees. © 2014 American Automatic Control Council.

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Optimal design of a transfemoral prosthesis with energy storage and regeneration

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Keywords

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