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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Rouse, E.J. Mooney, L.M. Martinez-Villalpando, E.C. Herr, H.M. |
| Copyright Year | 2013 |
| Description | Author affiliation: MIT Media Lab., Massachusetts Inst. of Technol., Cambridge, MA, USA (Rouse, E.J.; Mooney, L.M.; Martinez-Villalpando, E.C.; Herr, H.M.) |
| Abstract | The cyclic and often linear torque-angle relationship of locomotion presents the opportunity to innovate on the design of traditional series-elastic actuators (SEAs). In this paper, a novel modification to the SEA architecture was proposed by adding a clutch in parallel with the motor within the SEA - denoted as a CSEA. This addition permits bimodal dynamics where the system is characterized by an SEA when the clutch is disengaged and a passive spring when the clutch is engaged. The purpose of the parallel clutch was to provide the ability to store energy in a tuned series spring, while requiring only reactionary torque from the clutch. Thus, when the clutch is engaged, a tuned elastic relationship can be achieved with minimal electrical energy consumption. The state-based model of the CSEA is introduced and the implementation of the CSEA mechanism in a powered knee prosthesis is detailed. The series elasticity was optimized to fit the spring-like torque-angle relationship of early stance phase knee flexion and extension during level ground walking. In simulation, the CSEA knee required 70% less electrical energy than a traditional SEA. Future work will focus on the mechanical implementation of the CSEA knee and an empirical demonstration of reduced electrical energy consumption during walking. |
| Starting Page | 1 |
| Ending Page | 6 |
| File Size | 704548 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781467360227 |
| ISSN | 19457901 |
| e-ISBN | 9781467360241 |
| DOI | 10.1109/ICORR.2013.6650383 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2013-06-24 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Knee Legged locomotion powered prosthesis Actuators Torque lower limb prosthesis clutch Kinematics series elastic actuator biologically inspired design Prosthetics |
| Content Type | Text |
| Resource Type | Article |
| Subject | Rehabilitation Control and Systems Engineering Electrical and Electronic Engineering |
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