Open Access. Powered by Scholars. Published by Universities.®

Biomedical Engineering and Bioengineering Commons

Open Access. Powered by Scholars. Published by Universities.®

Theses/Dissertations

Master's Theses (2009 -)

Biomedical Devices and Instrumentation

Ankle Prosthesis

Articles 1 - 1 of 1

Full-Text Articles in Biomedical Engineering and Bioengineering

Control Design And Implementation Of An Active Transtibial Prosthesis, Joseph Klein Jul 2018

Control Design And Implementation Of An Active Transtibial Prosthesis, Joseph Klein

Master's Theses (2009 -)

Prior work at Marquette University developed the Marquette Prosthesis, an active transtibial prosthesis that utilized a torsional spring and a four-bar mechanism. The controls for the Marquette Prosthesis implemented a finite state control algorithm to determine the state of gait of the amputee along with two lower level controllers, a PI moment controller to control the moment during stance and a PID position controller to control the position during stance. The Marquette Prosthesis was successful in mimicking the gait profile presented by Winter. However, after completing human subject testing, the Marquette Prosthesis was insufficient in trying to match the gait ...