Design of a Testing Fixture for the Characterization and Modeling of a Powered Prosthetic Ankle Using a Lorentz Force Actuator

Developments in prosthetic ankles have been improving amputee gaits, gradually approaching a more normal, non-amputee gait as designs develop. Currently, powered ankle prosthetics, or bionic ankles, hold the potential to mold the amputee gait much closer to its biological counterpart. This requires accurate control of the prosthesis and thus requires an accurate understanding of the plant model characterizing the bionic ankle. It is typically rather difficult to analytically develop such a model, so this project explores an experimental approach through the use of nonlinear stochastic system identification techniques to characterize the prosthetic. Results from initial experiments which use the method for characterizing known linear models revealed unaccounted for sources of error and nonlinearity which future work will attempt to remedy to continue developing such a characterization fixture.

Name thesis:degree_name

Bachelor

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Mechanical Engineering

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2024

Author dc:creator

• Hamed, Yasin

Advisor dc:contributor.advisor

• Herr, Hugh

Statement dc:rights

• In Copyright - Educational Use Permitted
• Copyright retained by author(s)

Licence dc:rights.uri

• https://rightsstatements.org/page/InC-EDU/1.0/

Handle dc:identifier.uri

https://hdl.handle.net/1721.1/156604

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/156604