TY - GEN
T1 - Using the translational potential energy of springs for prosthetic systems
AU - Ward, Jeffrey A.
AU - Sugar, Thomas
AU - Hollander, Kevin W.
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
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U2 - 10.1109/CCA.2011.6044380
DO - 10.1109/CCA.2011.6044380
M3 - Conference contribution
AN - SCOPUS:80155135823
SN - 9781457710629
T3 - Proceedings of the IEEE International Conference on Control Applications
SP - 1461
EP - 1467
BT - 2011 IEEE International Conference on Control Applications, CCA 2011
T2 - 2011 20th IEEE International Conference on Control Applications, CCA 2011
Y2 - 28 September 2011 through 30 September 2011
ER -