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

40 Citations (Scopus)

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 - 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

Other

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

Fingerprint

DC motors
Robotics
Kinetics
Tendons
Prostheses and Implants

ASJC Scopus subject areas

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

Cite this

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] https://doi.org/10.1109/BIOROB.2008.4762888

The SPARKy (spring ankle with regenerative kinetics) project : Choosing a DC motor based actuation method. / Holgate, Matthew A.; Hitt, Joseph K.; Bellman, Ryan D.; Sugar, Thomas; Hollander, Kevin W.

Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008. 2008. p. 163-168 4762888.

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

Holgate, MA, Hitt, JK, Bellman, RD, Sugar, T & Hollander, KW 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., 4762888, pp. 163-168, 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008, Scottsdale, AZ, United States, 10/19/08. https://doi.org/10.1109/BIOROB.2008.4762888
Holgate MA, Hitt JK, Bellman RD, Sugar T, Hollander KW. 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. 2008. p. 163-168. 4762888 https://doi.org/10.1109/BIOROB.2008.4762888
Holgate, Matthew A. ; Hitt, Joseph K. ; Bellman, Ryan D. ; Sugar, Thomas ; Hollander, Kevin W. / The SPARKy (spring ankle with regenerative kinetics) project : Choosing a DC motor based actuation method. Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008. 2008. pp. 163-168
@inproceedings{b6c59223409d43e79075147cb559993b,
title = "The SPARKy (spring ankle with regenerative kinetics) project: Choosing a DC motor based actuation method",
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.",
author = "Holgate, {Matthew A.} and Hitt, {Joseph K.} and Bellman, {Ryan D.} and Thomas Sugar and Hollander, {Kevin W.}",
year = "2008",
doi = "10.1109/BIOROB.2008.4762888",
language = "English (US)",
isbn = "9781424428830",
pages = "163--168",
booktitle = "Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008",

}

TY - GEN

T1 - The SPARKy (spring ankle with regenerative kinetics) project

T2 - Choosing a DC motor based actuation method

AU - Holgate, Matthew A.

AU - Hitt, Joseph K.

AU - Bellman, Ryan D.

AU - Sugar, Thomas

AU - Hollander, Kevin W.

PY - 2008

Y1 - 2008

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=63049122221&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=63049122221&partnerID=8YFLogxK

U2 - 10.1109/BIOROB.2008.4762888

DO - 10.1109/BIOROB.2008.4762888

M3 - Conference contribution

AN - SCOPUS:63049122221

SN - 9781424428830

SP - 163

EP - 168

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

ER -