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
Externally publishedYes
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

Fingerprint

Decoupling
Stiffness
Actuators
Corresponding angles
Actuator
Simplify
Moment
Output
Prostheses and Implants

ASJC Scopus subject areas

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

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

Decoupling stiffness from position in joint mechanisms : Applied to powered ankle prosthesis. / Holgate, Robert; Sugar, Thomas.

41st Mechanisms and Robotics Conference. Vol. 5A-2017 American Society of Mechanical Engineers (ASME), 2017.

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

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), ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017, Cleveland, United States, 8/6/17. https://doi.org/10.1115/DETC2017-68113
Holgate R, Sugar T. 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). 2017 https://doi.org/10.1115/DETC2017-68113
Holgate, Robert ; Sugar, Thomas. / Decoupling stiffness from position in joint mechanisms : Applied to powered ankle prosthesis. 41st Mechanisms and Robotics Conference. Vol. 5A-2017 American Society of Mechanical Engineers (ASME), 2017.
@inproceedings{7dc1185443fa47ecb91f93d348a50c05,
title = "Decoupling stiffness from position in joint mechanisms: Applied to powered ankle prosthesis",
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.",
author = "Robert Holgate and Thomas Sugar",
year = "2017",
month = "1",
day = "1",
doi = "10.1115/DETC2017-68113",
language = "English (US)",
volume = "5A-2017",
booktitle = "41st Mechanisms and Robotics Conference",
publisher = "American Society of Mechanical Engineers (ASME)",

}

TY - GEN

T1 - Decoupling stiffness from position in joint mechanisms

T2 - Applied to powered ankle prosthesis

AU - Holgate, Robert

AU - Sugar, Thomas

PY - 2017/1/1

Y1 - 2017/1/1

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=85034857634&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85034857634&partnerID=8YFLogxK

U2 - 10.1115/DETC2017-68113

DO - 10.1115/DETC2017-68113

M3 - Conference contribution

AN - SCOPUS:85034857634

VL - 5A-2017

BT - 41st Mechanisms and Robotics Conference

PB - American Society of Mechanical Engineers (ASME)

ER -