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 Citations (Scopus)

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 publicationProceedings of the IEEE International Conference on Control Applications
Pages1461-1467
Number of pages7
DOIs
StatePublished - 2011
Event2011 20th IEEE International Conference on Control Applications, CCA 2011 - Denver, CO, United States
Duration: Sep 28 2011Sep 30 2011

Other

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

Fingerprint

Prosthetics
Potential energy
Stiffness
Gait
Energy
Tendons
Robotics
Controllers
Controller
Calculate
Simulation

ASJC Scopus subject areas

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

Cite this

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

Using the translational potential energy of springs for prosthetic systems. / Ward, Jeffrey A.; Sugar, Thomas; Hollander, Kevin W.

Proceedings of the IEEE International Conference on Control Applications. 2011. p. 1461-1467 6044380.

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

Ward, JA, Sugar, T & Hollander, KW 2011, Using the translational potential energy of springs for prosthetic systems. in Proceedings of the IEEE International Conference on Control Applications., 6044380, pp. 1461-1467, 2011 20th IEEE International Conference on Control Applications, CCA 2011, Denver, CO, United States, 9/28/11. https://doi.org/10.1109/CCA.2011.6044380
Ward JA, Sugar T, Hollander KW. Using the translational potential energy of springs for prosthetic systems. In Proceedings of the IEEE International Conference on Control Applications. 2011. p. 1461-1467. 6044380 https://doi.org/10.1109/CCA.2011.6044380
Ward, Jeffrey A. ; Sugar, Thomas ; Hollander, Kevin W. / Using the translational potential energy of springs for prosthetic systems. Proceedings of the IEEE International Conference on Control Applications. 2011. pp. 1461-1467
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