Using the translational potential energy of springs for prosthetic systems

Jeffrey A. Ward, Thomas Sugar, Kevin W. Hollander

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

3 Scopus citations

Abstract

A robotic tendon is modeled and the stiffness of the spring is tuned so that the spring power reduces the peak motor power and energy required for ankle gait. When determining stiffness from gait literature, it is usually assumed that one side of the spring is fixed. We assume that the spring is translating to derive a second method to calculate stiffness. By choosing a tuned spring based on a "dynamic stiffness", the motor velocity was shown to be constant during the loading phase of ankle gait. We simulated this system and showed that energy was reduced and peak power was dramatically reduced. The constant velocity controller was implemented on a powered ankle foot orthosis and test data was correlated with the simulation.

Original languageEnglish (US)
Title of host publication2011 IEEE International Conference on Control Applications, CCA 2011
Pages1461-1467
Number of pages7
DOIs
StatePublished - Nov 7 2011
Event2011 20th IEEE International Conference on Control Applications, CCA 2011 - Denver, CO, United States
Duration: Sep 28 2011Sep 30 2011

Publication series

NameProceedings of the IEEE International Conference on Control Applications

Other

Other2011 20th IEEE International Conference on Control Applications, CCA 2011
CountryUnited States
CityDenver, CO
Period9/28/119/30/11

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Mathematics(all)

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    Ward, J. A., Sugar, T., & Hollander, K. W. (2011). Using the translational potential energy of springs for prosthetic systems. In 2011 IEEE International Conference on Control Applications, CCA 2011 (pp. 1461-1467). [6044380] (Proceedings of the IEEE International Conference on Control Applications). https://doi.org/10.1109/CCA.2011.6044380