TY - GEN
T1 - A robotic 'jack spring'™for ankle gait assistance
AU - Hollander, Kevin W.
AU - Sugar, Thomas
AU - Herring, Donald E.
N1 - Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2005
Y1 - 2005
N2 - 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.
AB - 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.
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U2 - 10.1115/detc2005-84492
DO - 10.1115/detc2005-84492
M3 - Conference contribution
AN - SCOPUS:33244494216
SN - 0791847446
SN - 9780791847442
T3 - Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - DETC2005
SP - 25
EP - 34
BT - Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conferences - DETC2005
PB - American Society of Mechanical Engineers
T2 - DETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Y2 - 24 September 2005 through 28 September 2005
ER -