Abstract
This abstract presents the modeling and control of a transfemoral prosthesis with magnetorheological compensation. Initially, leg modeling is shown by the formulation of the Euler-Lagrange motion equations and the inclusion of the modified Bouc-Wen model for the magnetorheological damper. Subsequently, the linealization of these models is presented using the Taylor series approximation. For the design of the controller is used the analysis of the geometric place of the roots. The simulation results of the control system indicate that the prosthesis is capable of accurately following established joint references and effectively rejects external disturbances.
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