Modelo y simulación de la dinámica del actuador elástico serie de un pie protésico tipo ESAR

Abstract

In this document, the study and development of a model that determines the dynamic system for a motorized series elastic actuator of an energy storage and return (ESAR) prosthetic foot is proposed. With a view to applying a control algorithm, which is based on state observers, as a paradigm that seeks to improve the validation of its performance in this type of actuators for ankle-foot prostheses as well as to increase the robustness of the control with respect to disturbances. In the results achieved, the dynamic model is presented along with its parameterization to obtain the state representation from the transfer function model, to apply the conventional PID and state observer control strategies, to finally validate the performance of each strategy regarding its reaction to disturbances, verifying the contribution of strategies based on state observer for the control of SEA actuators in prosthesis applications.