Modelling and Low-level control of a new generation of transfemoral prosthesis

Limb amputation is a growing problem nowadays. It originates mainly from vascular diseases like diabetes. Even if most amputees are transtibial (below the knee), transfemoral amputees (above the knee) still represent a fair part of amputations cases among the world. They are treated with transfemoral prostheses. These are used to replace the missing knee and ankle joints. The CYBERLEGs project, which includes a UCL research team, aims to develop an energy-ecient actuated transfemoral prosthesis. The current version of this prosthesis, the CYBERLEGs-Beta prosthesis, is the focus of this thesis. A quasi-static and analytical model of this device has been developed. However, these models do not include the dynamic eects in the joints of the prosthesis, such as inertial, gyroscopic and centrifugal forces. This master thesis has two goals. First, develop a dynamic model of the CYBERLEGs-Beta prosthesis to investigate on these dynamic eects. Secondly, augment it with the electromechanical model of the actuators to nally design a low-level controller for these actuators.