MCE493/593 . EEC492/592

Prosthesis Design and Control

Course Materials - Fall 2014

Dr. Richter

Reading assignment (for final exam):

Robot-Aided Neuro-Recovery -by Neville Hogan
Upper-Extremity Exoskeletons for Robot-Aided Rehabilitation -by Fabrizio Sergi, Amy Blank and Marcia O'Malley
Impedance and Admittance-Based Coordination Control Strategies for Robotic Lower Limb Prostheses -by Brian Lawson and Michael Goldfarb

Find these in the ASME Mechanical Engineering Magazine, Sept. 2014. Available through the Michael Schwartz Library.

Main course page (materials from Dr. Simon and Dr. van den Bogert

Matlab Guide

Lectures and homework, Dr. Richter: 

Introduction to kinematics and application to prosthetic devices

Introduction to dynamics and application to prosthetic devices

Electromechanical systems and actuator model integration (updated 10/6)

Code for motor selection: four-bar knee actuator

Electromechanical systems and actuator model integration. (part 2)

Simulation examples: pulse-width modulation 

Control systems (part 1: General considerations; inverse dynamics control)

Control systems (part 2: Sliding Mode Control)


Control systems (part 3: Impedance Control)

Simulation examples (control systems:)


Inverse Dynamics: Cart-Pendulum

Thermostat
Differential Equation with Discontinuous Right-Hand Side
SMC -Double Integrator

QR decomposition code for sliding mode coefficient selection


Homeworks


HW3
HW10
HW11

HW13

HW14

Code for HW14:

Impedance control: cart-pendulum system

SMC with reference states


Exams

Midterm (take-home portion)

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Recommended Exercises:


Homework Solutions

HW3
HW11
HW13













Last changed: 08/24/2008, 14:15:54