Decoupling stiffness from position in joint mechanisms: Applied to powered ankle prosthesis

Robert Holgate, Thomas Sugar

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

Abstract

A method for decoupling joint stiffness and joint position for simple mechanisms was developed. This method was then demonstrated on a powered ankle prosthesis. Linear and circular mechanisms were fit to the resulting data to simplify the required actuator output. The resulting performance of desired ankle moment with corresponding ankle angle was shown to be highly correlated with able bodied walking data.

Original languageEnglish (US)
Title of host publication41st Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
Volume5A-2017
ISBN (Electronic)9780791858172
DOIs
StatePublished - Jan 1 2017
EventASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017 - Cleveland, United States
Duration: Aug 6 2017Aug 9 2017

Other

OtherASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017
CountryUnited States
CityCleveland
Period8/6/178/9/17

ASJC Scopus subject areas

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

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  • Cite this

    Holgate, R., & Sugar, T. (2017). Decoupling stiffness from position in joint mechanisms: Applied to powered ankle prosthesis. In 41st Mechanisms and Robotics Conference (Vol. 5A-2017). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC2017-68113