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Selected Works

Antonie J. van den Bogert

2019

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Full-Text Articles in Mechanical Engineering

Optimal Design And Control Of An Electromechanical Transfemoral Prosthesis With Energy Regeneration, Farbod Rohani, Hanz Richter, Antonie J. Van Den Bogert Apr 2019

Optimal Design And Control Of An Electromechanical Transfemoral Prosthesis With Energy Regeneration, Farbod Rohani, Hanz Richter, Antonie J. Van Den Bogert

Antonie J. van den Bogert

In this paper, we present the design of an electromechanical above-knee active prosthesis with energy storage and regeneration. The system consists of geared knee and ankle motors, parallel springs for each motor, an ultracapacitor, and controllable four-quadrant power converters. The goal is to maximize the performance of the system by finding optimal controls and design parameters. A model of the system dynamics was developed, and used to solve a combined trajectory and design optimization problem. The objectives of the optimization were to minimize tracking error relative to human joint motions, as well as energy use. The optimization problem was solved ...