An Efficient Robotic Tendon for Gait Assistance-Reference-Cited by-同舟云学术

An Efficient Robotic Tendon for Gait Assistance

Published:2006-03-22 Issue:5 Volume:128 Page:788-791
ISSN:0148-0731
Container-title:Journal of Biomechanical Engineering
language:en
Short-container-title:

Author:

Hollander Kevin W.¹,Ilg Robert¹,Sugar Thomas G.¹,Herring Donald¹

Affiliation:

1. Departments of Mechanical and Aerospace Engineering, and Industrial Design, Arizona State University, Tempe, AZ 85287-6106

Abstract

Abstract A robotic tendon is a spring based, linear actuator in which the stiffness of the spring is crucial for its successful use in a lightweight, energy efficient, powered ankle orthosis. Like its human analog, the robotic tendon uses its inherent elastic nature to reduce both peak power and energy requirements for its motor. In the ideal example, peak power required of the motor for ankle gait is reduced from 250 W to just 77 W. In addition, ideal energy requirements are reduced from nearly 36 J to just 21 J. Using this approach, an initial prototype has provided 100% of the power and energy necessary for ankle gait in a compact 0.95kg package, seven times less than an equivalent motor/gearbox system.

Publisher

ASME International

Subject

Physiology (medical),Biomedical Engineering

Link

http://asmedigitalcollection.asme.org/biomechanical/article-pdf/128/5/788/6711725/788_1.pdf

Reference12 articles.

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4. Kawamoto, H., Kanbe, S., and Sankai, Y., 2003, “Power Assist Method for HAL-3 Estimating Operator’s Intention Based on Motion Information,” in IEEE International Workshop on Robot and Human Interactive Communication, pp. 67–72.

5. Sugar, T. G., and Kumar, V. J., 1998, “Design and Control of a Compliant Parallel Manipulator for a Mobile Platform,” in ASME Design Engineering Technical Conferences and Computers in Engineering Conference (DETC) CDROM.

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