Biomimetic transfemoral prosthesis
View Patent ↗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.
1. A method for controlling a motorized, artificial limb having an actuator, the actuator comprising a motor coupled in series with an elastic element, to apply a torque characteristic to a joint, the method comprising the steps of:
applying a voltage to windings of the motor;
measuring the torque characteristic at the joint;
computing, using a hardware controller, a torque characteristic error as a difference between a target torque characteristic and the measured torque characteristic, the computing comprising applying a model in which a back electromotive force (EMF) of the motor occurs; and
controlling, using the hardware controller, the applied voltage independently of motor current, to reduce the torque characteristic error, the controlling comprising estimating a speed of the motor, and using the estimated speed of the motor to cancel the back EMF in the model.
2. The method of claim 1 , wherein the torque characteristic comprises at least one of a joint torque, a joint impedance, and a joint equilibrium.
3. The method of claim 1 , wherein the applied voltage is controlled solely based on the target torque characteristic and the torque-characteristic error.
4. The method of claim 1 , wherein the controlling step avoids at least one of: (i) computation of motor current and (ii) computation of an adjustment to the motor current supplied to the motor to achieve the target torque characteristic.
5. The method of claim 4 , wherein the controlling step avoids measurement of motor current and using, at least in part, the measured current for adjusting the motor current.
6. The method of claim 1 , wherein the limb control method is independent of a resonance frequency associated with the coupling of the motor and the elastic element.
7. The method of claim 1 , wherein the step of measuring the torque characteristic at the joint comprises measuring at least one of an angular position of the motor and an angular position of the joint.
8. The method of claim 1 further comprising:
estimating voltage corresponding to the back electromotive force related to the motor speed; and
controlling the applied voltage based on, at least in part, the estimated voltage corresponding to the back electromotive force.
9. The method of claim 1 , wherein the artificial limb comprises at least one of a prosthetic limb and an orthotic limb.
10. The method of claim 1 , wherein the joint is at least one of an ankle joint and a knee joint.
11. An artificial limb system comprising:
an actuator coupled to a joint for applying a torque characteristic thereto, the actuator having a motor coupled in series with an elastic element;
a power source for applying a voltage to windings of the motor;
at least one sensor for estimating the torque characteristic at the joint; and
a hardware controller configured to: (i) compute a torque characteristic error as a difference between a target torque characteristic and the torque characteristic measured by the sensor the computing comprising applying a model in which a back electromotive force (EMF) of the motor occurs, and (ii) control the applied voltage independently of motor current, to reduce the torque characteristic error, the controlling comprising estimating a speed of the motor, and using the estimated speed of the motor to cancel the back EMF in the model.
12. The system of claim 11 , wherein the torque characteristic comprises at least one of a joint torque, a joint impedance, and a joint equilibrium.
13. The system of claim 11 , wherein the controller is adapted for controlling the applied voltage solely based on the target torque characteristic and the torque-characteristic error.
14. The system of claim 11 , wherein the controller is adapted for controlling the applied voltage without using a computation of at least one of: (i) motor current and (ii) an adjustment to the motor current supplied to the motor to achieve the target torque characteristic.
15. The system of claim 14 , wherein the controller is adapted to avoid at least partially using a measurement of motor current for an adjustment thereof.
16. The system of claim 11 , wherein the controller is adapted such that a controller response is independent of a resonance frequency associated with the coupling of the motor and the elastic element.
17. The system of claim 11 , wherein the artificial limb system comprises at least one of a prosthetic limb system and an orthotic limb system.
18. The system of claim 11 , wherein the joint is at least one of an ankle joint and a knee joint.
19. The system of claim 11 , wherein the sensor is selected from the group consisting of a joint encoder, a torque sensor, a deflection sensor disposed on the series elastic element, a joint angle sensor, and a motor angle sensor.
20. The system of claim 11 further comprising a motor encoder for measuring the motor speed, wherein the controller is further adapted to: (i) estimate voltage corresponding to the back electromotive force related to the motor speed, and (ii) control the applied voltage based on, at least in part, the estimated voltage corresponding to the back electromotive force.
21. The system of claim 11 further comprising an observer to estimate voltage corresponding to back electromotive force, and the controller is adapted to control the applied voltage based on, at least in part, the estimated voltage corresponding to the back electromotive force.
22. The system of claim 11 further comprising a linkage having a plurality of links, wherein:
the linkage is coupled to the joint; and
the motor is coupled to a first link in the linkage and the elastic element is coupled to a second link in the linkage.