Design of Powered Ankle-Foot Prosthesis Driven by Parallel Elastic Actuator
Refereed conference paper presented and published in conference proceedings


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AbstractTo improve the energy efficiency and downsize the powered ankle-foot prostheses (PAFP) but still provide sufficient instantaneous power output, elastic actuators (EAs) are widely used. Generally, there are two kinds of EAs: series elastic actuator (SEA), and parallel elastic actuator (PEA). Both of them can reduce the energy requirement and peak power of the motor in the PAFP by using elastic elements to store and release energy during walking cycles. Researchers working on prostheses fields have been focusing on the design of PAFP driven by SEAs. As a result, several PAFP driven by SEAs were proposed. Compared with the PAFP driven by SEAs, the PAFP driven by PEAs could have more benefits, such as lower copper loss and higher force bandwidth due to the smaller motor output torque requirement. In this paper, we aim at designing a PAFP driven by a PEA. Based on the energy requirement analysis, an energy-efficient PAFP is proposed. The designed PAFP can mimic human intact ankle with the minimum energy consumption that equals to the human ankle net positive work. Besides, with the motor output torque being decreased, the motor peak power of the PAFP is reduced by 64%.
All Author(s) ListGao F, Liao WH, Ma H, Qin LY, Chen B
Name of Conference14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR)
Start Date of Conference11/08/2015
End Date of Conference14/08/2015
Place of ConferenceSingapore
Country/Region of ConferenceSingapore
Journal name2011 IEEE INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS (ICORR)
Detailed descriptionorganized by IEEE
Year2015
Month1
Day1
PublisherIEEE
Pages374 - 379
eISBN978-1-4799-1808-9
ISSN1945-7898
LanguagesEnglish-United Kingdom
KeywordsParallel elastic actuator; Powered ankle-foot prosthesis; Serises elastic actuator
Web of Science Subject CategoriesRehabilitation; Robotics

Last updated on 2020-25-11 at 03:04