Bionx Medical Technologies, Inc.

Charles E Rohrs

Hugh Miller Herr

Christopher Guy Williams

Richard James Casler, Jr

Zhixiu Han

Christopher Eric Barnhart

In an artificial limb system having an actuator coupled to a joint for applying a torque characteristic thereto, a control bandwidth of a motor controller for a motor included in the actuator can be increased by augmenting a current feedback loop in the motor controller with a feed forward of estimated back electromotive force (emf) voltage associated with, the motor. Alternatively, the current loop is eliminated and replaced with a voltage loop related to joint torque. The voltage loop may also be augmented with the feed forward of estimated back emf, to improve the robustness of the motor controller.

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Newton, MA, United States of America

Charles E Rohrs