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...
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| Format: | Thesis |
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Massachusetts Institute of Technology
2024
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| Online Access: | https://hdl.handle.net/1721.1/156604 |
| _version_ | 1826199573964521472 |
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| author | Hamed, Yasin |
| author2 | Herr, Hugh |
| author_facet | Herr, Hugh Hamed, Yasin |
| author_sort | Hamed, Yasin |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T11:22:08Z |
| format | Thesis |
| id | mit-1721.1/156604 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T11:22:08Z |
| publishDate | 2024 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/1566042024-09-04T03:39:41Z Design of a Testing Fixture for the Characterization and Modeling of a Powered Prosthetic Ankle Using a Lorentz Force Actuator Hamed, Yasin Herr, Hugh Massachusetts Institute of Technology. Department of Mechanical Engineering 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. S.B. 2024-09-03T21:10:57Z 2024-09-03T21:10:57Z 2024-05 2024-07-10T17:33:28.072Z Thesis https://hdl.handle.net/1721.1/156604 In Copyright - Educational Use Permitted Copyright retained by author(s) https://rightsstatements.org/page/InC-EDU/1.0/ application/pdf Massachusetts Institute of Technology |
| spellingShingle | Hamed, Yasin Design of a Testing Fixture for the Characterization and Modeling of a Powered Prosthetic Ankle Using a Lorentz Force Actuator |
| title | Design of a Testing Fixture for the Characterization and Modeling of a Powered Prosthetic Ankle Using a Lorentz Force Actuator |
| title_full | Design of a Testing Fixture for the Characterization and Modeling of a Powered Prosthetic Ankle Using a Lorentz Force Actuator |
| title_fullStr | Design of a Testing Fixture for the Characterization and Modeling of a Powered Prosthetic Ankle Using a Lorentz Force Actuator |
| title_full_unstemmed | Design of a Testing Fixture for the Characterization and Modeling of a Powered Prosthetic Ankle Using a Lorentz Force Actuator |
| title_short | Design of a Testing Fixture for the Characterization and Modeling of a Powered Prosthetic Ankle Using a Lorentz Force Actuator |
| title_sort | design of a testing fixture for the characterization and modeling of a powered prosthetic ankle using a lorentz force actuator |
| url | https://hdl.handle.net/1721.1/156604 |
| work_keys_str_mv | AT hamedyasin designofatestingfixtureforthecharacterizationandmodelingofapoweredprostheticankleusingalorentzforceactuator |