The SPARKy (spring ankle with regenerative kinetics) project: Choosing a DC motor based actuation method

Matthew A. Holgate, Joseph K. Hitt, Ryan D. Bellman, Thomas Sugar, Kevin W. Hollander

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

42 Scopus citations

Abstract

The design process of a powered robotic ankle prosthesis presents many obstacles that must be overcome. To be practically implemented, such a mechanism must not only run on batteries, but sustain a long running time between recharging. Using springs to passively and actively store and supply energy to the robotic ankle, small DC motors can be optimized to perform high peak power tasks without sacrificing efficiency and net energy usage. Additional techniques are explored with the potential of substantially reducing the energy requirements as well as the size and weight of the prosthesis. The benefits of adding a unidirectional parallel spring with a Robotic Tendon are weighed and the possibility of actively varying the lever arm at which the spring force is applied is analyzed. The different actuation methods are compared to determine which methods work best in different gait regimes.

Original languageEnglish (US)
Title of host publicationProceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
Pages163-168
Number of pages6
DOIs
StatePublished - Dec 1 2008
Event2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 - Scottsdale, AZ, United States
Duration: Oct 19 2008Oct 22 2008

Publication series

NameProceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008

Other

Other2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
CountryUnited States
CityScottsdale, AZ
Period10/19/0810/22/08

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Biomedical Engineering

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    Holgate, M. A., Hitt, J. K., Bellman, R. D., Sugar, T., & Hollander, K. W. (2008). The SPARKy (spring ankle with regenerative kinetics) project: Choosing a DC motor based actuation method. In Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 (pp. 163-168). [4762888] (Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008). https://doi.org/10.1109/BIOROB.2008.4762888