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On the use of (lockable) parallel elasticity in active prosthetic ankles.
Boekbijdrage - Boekhoofdstuk Conferentiebijdrage
New challenges arise when investigating the use
of active prostheses for lower limb replacement, such as high
motor power requirements, leading to increased weight and
reduced autonomy. Series and parallel elasticity are often
explored to reduce the necessary motor power but often the
effect on the energy consumption of the prosthesis is not directly
investigated, as the mechanical power properties are examined
yet the motor and gearbox dynamics and efficiencies are not
considered. This paper presents the investigation of a parallel
elasticity compared to a series elastic actuation system used in
an active ankle prosthesis. Using a matched electromechanical
model of the actuator shows that the electrical efficiency can be
influenced using parallel elasticity. The optimal configuration
depends on the motor characteristics (dynamic behavior) and
limitations, which should always be taken into account when
designing optimal series and parallel springs. It has been shown
that adding parallel elasticity allows to reduce the required gear
ratio and thus associated friction and inertial losses. Allowing
the parallel elasticity to be lockable can further influence the
behavior and allow for a more versatile actuator.
of active prostheses for lower limb replacement, such as high
motor power requirements, leading to increased weight and
reduced autonomy. Series and parallel elasticity are often
explored to reduce the necessary motor power but often the
effect on the energy consumption of the prosthesis is not directly
investigated, as the mechanical power properties are examined
yet the motor and gearbox dynamics and efficiencies are not
considered. This paper presents the investigation of a parallel
elasticity compared to a series elastic actuation system used in
an active ankle prosthesis. Using a matched electromechanical
model of the actuator shows that the electrical efficiency can be
influenced using parallel elasticity. The optimal configuration
depends on the motor characteristics (dynamic behavior) and
limitations, which should always be taken into account when
designing optimal series and parallel springs. It has been shown
that adding parallel elasticity allows to reduce the required gear
ratio and thus associated friction and inertial losses. Allowing
the parallel elasticity to be lockable can further influence the
behavior and allow for a more versatile actuator.
Boek: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems.
Series: IEEE International Conference on Intelligent Robots and Systems
Pagina's: 3383-3388
Aantal pagina's: 6
Jaar van publicatie:2020
BOF-keylabel:ja
IOF-keylabel:ja
Toegankelijkheid:Closed