Name
Title | ||
|---|---|---|
Clutchable series-elastic actuator: design of a robotic knee prosthesis for minimum energy consumption. |
Abstract | ||
|---|---|---|
The cyclic and often linear torque-angle relationship of locomotion presents the opportunity to innovate on the design of traditional series-elastic actuators (SEAs). In this paper, a novel modification to the SEA architecture was proposed by adding a clutch in parallel with the motor within the SEA--denoted as a CSEA. This addition permits bimodal dynamics where the system is characterized by an SEA when the clutch is disengaged and a passive spring when the clutch is engaged. The purpose of the parallel clutch was to provide the ability to store energy in a tuned series spring, while requiring only reactionary torque from the clutch. Thus, when the clutch is engaged, a tuned elastic relationship can be achieved with minimal electrical energy consumption. The state-based model of the CSEA is introduced and the implementation of the CSEA mechanism in a powered knee prosthesis is detailed. The series elasticity was optimized to fit the spring-like torque-angle relationship of early stance phase knee flexion and extension during level ground walking. In simulation, the CSEA knee required 70% less electrical energy than a traditional SEA. Future work will focus on the mechanical implementation of the CSEA knee and an empirical demonstration of reduced electrical energy consumption during walking. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/ICORR.2013.6650383 | ICORR |
Keywords | DocType | Volume |
series elastic actuator,clutch,state-based model,robotic knee prosthesis,csea,electrical energy consumption,parallel clutch,clutchable series-elastic actuator,spring-like torque-angle relationship,passive spring,series-elastic actuators,prosthetics,tuned series spring,early stance phase knee flexion,biologically inspired design,reactionary torque,sea architecture,lower limb prosthesis,energy consumption,minimum energy consumption,actuators,powered prosthesis,linear torque-angle locomotion relationship,tuned elastic relationship,powered knee prosthesis,early stance phase knee extension,clutches | Conference | 2013 |
ISSN | ISBN | Citations |
1945-7901 | 978-1-4673-6022-7 | 10 |
PageRank | References | Authors |
0.76 | 5 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Elliott J. Rouse | 1 | 54 | 12.27 |
| Luke M. Mooney | 2 | 47 | 5.30 |
| Ernesto C Martinez-Villalpando | 3 | 10 | 0.76 |
| Hugh M. Herr | 4 | 575 | 70.59 |