A robotic 'jack spring'™for ankle gait assistance

Kevin W. Hollander, Thomas Sugar, Donald E. Herring

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Scopus citations

Abstract

A Robotic 'Jack Spring'™is a new type of mechanical actuator, which is based upon the concept of structure control. A Jack Spring™mechanism is used to create an adjustable Robotic Tendon, which is a spring based linear actuator in which the properties of a spring are crucial to its successful use in gait assistance. Like its human analog, the adjustable 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 250W to just 81W. In addition, ideal energy requirements are reduced from nearly 36 Joules to just 25 Joules per step. Using this approach, an initial prototype is expected to provide 100% of the power and energy neccessary for ankle gait in a compact 0.84kg package. This weight is 8 times less than that predicted for an equivalent direct drive approach.

Original languageEnglish (US)
Title of host publicationProceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - DETC2005
Pages25-34
Number of pages10
Volume7 A
Publication statusPublished - 2005
EventDETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Long Beach, CA, United States
Duration: Sep 24 2005Sep 28 2005

Other

OtherDETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
CountryUnited States
CityLong Beach, CA
Period9/24/059/28/05

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ASJC Scopus subject areas

  • Engineering(all)

Cite this

Hollander, K. W., Sugar, T., & Herring, D. E. (2005). A robotic 'jack spring'™for ankle gait assistance. In Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - DETC2005 (Vol. 7 A, pp. 25-34)