Importance of series elasticity in a powered transtibial prosthesis with ankle and toe joints | |
Zhu, Jinying ; Wang, Qining ; Li, Xin ; Sun, Wentao ; She, Haotian ; Huang, Qiang | |
2015 | |
DOI | 10.1109/ROBIO.2015.7418824 |
英文摘要 | The authors have previously developed a powered transtibial prosthesis with ankle and toe joints to help lower-limb amputees obtain more natural walking gaits. Inspired by the importance of series elasticity in increasing muscle work output and efficiency, series elasticity has been added into the actuators which are used to drive the ankle and toe joints. In this paper, we analyze the effects of series elasticity on the displacement, velocity, and energy consumption of the actuators. Dynamic models of the ankle and toe joints are built and simulations are performed. In these models, the imposed plantar pressures and objective joint angles are measured from locomotion experiments on healthy subjects. Simulation results show that series elasticity can reduce the displacement, maximal velocity, and energy consumption of the actuators. Walking experiments on an amputee subject wearing the prosthesis prototype are carried out. Experimental results validate the importance of series elasticity in reducing the energy consumption of the prosthesis. ? 2015 IEEE.; EI; 541-546 |
会议录 | IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 |
语种 | 英语 |
内容类型 | 会议论文 |
源URL | [http://ir.pku.edu.cn/handle/20.500.11897/436264] |
专题 | 工学院 |
推荐引用方式 GB/T 7714 | Zhu, Jinying,Wang, Qining,Li, Xin,et al. Importance of series elasticity in a powered transtibial prosthesis with ankle and toe joints[C]. 见:. |
个性服务 |
查看访问统计 |
相关权益政策 |
暂无数据 |
收藏/分享 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论