首页> 外文会议>Proceedings of the IEEE/RAS-EMBS International Conference on Rehabilitation Robotics >Design of powered ankle-foot prosthesis driven by parallel elastic actuator
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Design of powered ankle-foot prosthesis driven by parallel elastic actuator

机译:平行弹性致动器驱动的动力踝足假体设计

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摘要

To 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%.
机译:为了提高能源效率并缩小电动踝足假体(PAFP)的尺寸,但仍提供足够的瞬时功率输出,弹性致动器(EA)被广泛使用。通常,EA有两种:串联弹性致动器(SEA)和并联弹性致动器(PEA)。它们都可以通过使用弹性元件在行走周期中存储和释放能量来降低PAFP中电机的能量需求和峰值功率。假肢领域的研究人员一直专注于SEA驱动的PAFP的设计。结果,提出了几种由SEA驱动的PAFP。与由SEA驱动的PAFP相比,由PEA驱动的PAFP可能具有更多的好处,例如,由于较小的电动机输出扭矩要求,因此铜损更低,力带宽更高。在本文中,我们旨在设计一种由PEA驱动的PAFP。基于能量需求分析,提出了一种节能PAFP。设计的PAFP可以模拟人体完整的脚踝,而所需的最小能量消耗等于人体脚踝的净正功。此外,随着电动机输出转矩的减小,PAFP的电动机峰值功率降低了64%。

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