Biomimetic transfemoral prosthesis
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United States of America Patent
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Aug 22, 2017
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N/A
app pub date -
Nov 2, 2012
filing date -
Nov 2, 2011
priority date (Note) -
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Abstract
In an artificial limb system having an actuator coupled to a joint for applying a torque characteristic thereto, a control bandwidth of a motor controller for a motor included in the actuator can be increased by augmenting a current feedback loop in the motor controller with a feed forward of estimated back electromotive force (emf) voltage associated with, the motor. Alternatively, the current loop is eliminated and replaced with a voltage loop related to joint torque. The voltage loop may also be augmented with the feed forward of estimated back emf, to improve the robustness of the motor controller.
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