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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Mooney, L. Herr, H. |
| Copyright Year | 2013 |
| Description | Author affiliation: MIT Media Lab., Massachusetts Inst. of Technol., Cambridge, MA, USA (Herr, H.) || Dept. of Mech. Eng., Massachusetts Inst. of Technol., Cambridge, MA, USA (Mooney, L.) |
| Abstract | Actuator efficiency is an important factor in the design of powered leg prostheses, orthoses, exoskeletons, and legged robots. A continuously-variable series-elastic actuator (CV-SEA) is presented as an efficient actuator for legged locomotion. The CV-SEA implements a continuously-variable transmission (CVT) between a motor and series elastic element. The CVT reduces the torque seen at the motor and allows the motor to operate in speed regimes of higher efficiency, while the series-elastic element efficiently stores and releases mechanical energy, reducing motor work requirements for actuator applications where an elastic response is sought. An energy efficient control strategy for the CV-SEA was developed using a Monte-Carlo minimization method that randomly generates transmission profiles and converges on those that minimize the electrical energy consumption of the motor. The CV-SEA is compared to a standard SEA and an infinitely variable series elastic actuator (IV-SEA). Simulations suggest that a CV-SEA will require less energy that an SEA or IV-SEA when used in a knee prosthesis during level-ground walking. |
| Starting Page | 1 |
| Ending Page | 6 |
| File Size | 1243011 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781467360227 |
| ISSN | 19457901 |
| e-ISBN | 9781467360241 |
| DOI | 10.1109/ICORR.2013.6650402 |
| 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 | Legged locomotion Knee Actuators Brushless motors Torque continuously variable efficiency prostheses series elastic actuator Energy efficiency |
| Content Type | Text |
| Resource Type | Article |
| Subject | Rehabilitation Control and Systems Engineering Electrical and Electronic Engineering |
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