Design and Comparison of Controllers for a Robotic Transfemoral Prosthesis

Guillermo Mosquera, Vladimir Bonilla, Sofía Vergara, Christian Rueda and Marcelo Moya

Data and Metadata, 2025, vol. 4, 759

Abstract: This study investigates the performance of four control strategies—Proportional-Derivative (PD), Feedforward-Feedback PD (FF-FB PD), Linear Quadratic Regulator (LQR), and Feedforward-Feedback LQR (FF-FB LQR)—implemented on a robotic transfemoral prosthesis. The performance metrics, including overshoot, settling time, trajectory tracking accuracy, and torque requirements, were evaluated using simulation models. The results indicate that the FF-FB LQR controller demonstrated superior performance, achieving the lowest overshoot (4.98%) and near-zero trajectory tracking error. All controllers required approximately 8.6 Nm of torque, suggesting consistent energy requirements across strategies despite their performance differences. The LQR controller exhibited the best stability, minimizing overshoot and improving overall system response. These findings highlight the advantages of feedforward-feedback control strategies, particularly the FF-FB LQR, for controlling robotic transfemoral prostheses with enhanced stability and accuracy.

Date: 2025
References: Add references at CitEc
Citations:

There are no downloads for this item, see the EconPapers FAQ for hints about obtaining it.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:dbk:datame:v:4:y:2025:i::p:759:id:1056294dm2025759

DOI: 10.56294/dm2025759

Access Statistics for this article

More articles in Data and Metadata from AG Editor
Bibliographic data for series maintained by Javier Gonzalez-Argote ().