Adjustable robotic tendon using a 'jack spring'™

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

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

102 Scopus citations

Abstract

An adjustable Robotic Tendon is a spring based linear actuator in which the properties of a spring are crucial to its successful use in a gait assistance device. Like its human analog, the adjustable Robotic Tendon uses its inherent elastic nature to both reduce 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 2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005
Pages113-118
Number of pages6
DOIs
StatePublished - Dec 1 2005
Event2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005 - Chicago, IL, United States
Duration: Jun 28 2005Jul 1 2005

Publication series

NameProceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics
Volume2005

Other

Other2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005
CountryUnited States
CityChicago, IL
Period6/28/057/1/05

ASJC Scopus subject areas

  • Engineering(all)

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    Hollander, K. W., Sugar, T., & Herring, D. E. (2005). Adjustable robotic tendon using a 'jack spring'™. In Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005 (pp. 113-118). [1501064] (Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics; Vol. 2005). https://doi.org/10.1109/ICORR.2005.1501064