Compliant mechanisms for robotic ankles

Thomas Sugar, Matthew Holgate

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

5 Scopus citations

Abstract

We have developed a compliant robotic tendon mechanism for a robotic ankle. In this paper, we analyze the differences between a stiff and compliant robotic tendon versus a stiff and compliant slider crank mechanism. The compliant, slider-crank mechanism reduces peak forces and speed required by an actuator at the ankle.

Original languageEnglish (US)
Title of host publication37th Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers
ISBN (Print)9780791855935
DOIs
StatePublished - Jan 1 2013
EventASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013 - Portland, OR, United States
Duration: Aug 4 2013Aug 7 2013

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume6 A

Other

OtherASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013
CountryUnited States
CityPortland, OR
Period8/4/138/7/13

ASJC Scopus subject areas

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

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