Design of powered ankle-foot prosthesis driven by parallel elastic actuator

Fei Gao; Wei Hsin Liao; Bing Chen; Hao Ma; Lai Yin Qin

doi:10.1109/ICORR.2015.7281228

Design of powered ankle-foot prosthesis driven by parallel elastic actuator

Fei Gao, Wei Hsin Liao, Bing Chen, Hao Ma, Lai Yin Qin

Academy of Visual Arts

Research output: Chapter in book/report/conference proceeding › Conference proceeding › peer-review

17 Citations (Scopus)

Abstract

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%.

Original language	English
Title of host publication	Proceedings of the IEEE/RAS-EMBS International Conference on Rehabilitation Robotics
Subtitle of host publication	Enabling Technology Festival, ICORR 2015
Editors	Haoyong Yu, David Braun, Domenico Campolo
Publisher	IEEE
Pages	374-379
Number of pages	6
ISBN (Electronic)	9781479918089, 9781479918072
DOIs	https://doi.org/10.1109/ICORR.2015.7281228
Publication status	Published - Aug 2015
Event	14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015 - Nanyang Technological University, Singapore Duration: 11 Aug 2015 → 14 Aug 2015 https://ieeexplore.ieee.org/xpl/conhome/7256409/proceeding

Publication series

Name	IEEE International Conference on Rehabilitation Robotics
ISSN (Print)	1945-7898
ISSN (Electronic)	1945-7901

Conference

Conference	14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015
Country/Territory	Singapore
Period	11/08/15 → 14/08/15
Internet address	https://ieeexplore.ieee.org/xpl/conhome/7256409/proceeding

Scopus Subject Areas

Control and Systems Engineering
Rehabilitation
Electrical and Electronic Engineering

User-Defined Keywords

Parallel elastic actuator
Powered ankle-foot prosthesis
Serises elastic actuator

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/ICORR.2015.7281228

Cite this

Gao, F., Liao, W. H., Chen, B., Ma, H., & Qin, L. Y. (2015). Design of powered ankle-foot prosthesis driven by parallel elastic actuator. In H. Yu, D. Braun, & D. Campolo (Eds.), Proceedings of the IEEE/RAS-EMBS International Conference on Rehabilitation Robotics: Enabling Technology Festival, ICORR 2015 (pp. 374-379). (IEEE International Conference on Rehabilitation Robotics). IEEE. https://doi.org/10.1109/ICORR.2015.7281228

Gao, Fei ; Liao, Wei Hsin ; Chen, Bing et al. / Design of powered ankle-foot prosthesis driven by parallel elastic actuator. Proceedings of the IEEE/RAS-EMBS International Conference on Rehabilitation Robotics: Enabling Technology Festival, ICORR 2015. editor / Haoyong Yu ; David Braun ; Domenico Campolo. IEEE, 2015. pp. 374-379 (IEEE International Conference on Rehabilitation Robotics).

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abstract = "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%.",

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Gao, F, Liao, WH, Chen, B, Ma, H & Qin, LY 2015, Design of powered ankle-foot prosthesis driven by parallel elastic actuator. in H Yu, D Braun & D Campolo (eds), Proceedings of the IEEE/RAS-EMBS International Conference on Rehabilitation Robotics: Enabling Technology Festival, ICORR 2015. IEEE International Conference on Rehabilitation Robotics, IEEE, pp. 374-379, 14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015, Singapore, 11/08/15. https://doi.org/10.1109/ICORR.2015.7281228

Design of powered ankle-foot prosthesis driven by parallel elastic actuator. / Gao, Fei; Liao, Wei Hsin; Chen, Bing et al.
Proceedings of the IEEE/RAS-EMBS International Conference on Rehabilitation Robotics: Enabling Technology Festival, ICORR 2015. ed. / Haoyong Yu; David Braun; Domenico Campolo. IEEE, 2015. p. 374-379 (IEEE International Conference on Rehabilitation Robotics).

Research output: Chapter in book/report/conference proceeding › Conference proceeding › peer-review

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AU - Liao, Wei Hsin

AU - Chen, Bing

AU - Ma, Hao

AU - Qin, Lai Yin

PY - 2015/8

Y1 - 2015/8

N2 - 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%.

AB - 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%.

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PB - IEEE

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Gao F, Liao WH, Chen B, Ma H, Qin LY. Design of powered ankle-foot prosthesis driven by parallel elastic actuator. In Yu H, Braun D, Campolo D, editors, Proceedings of the IEEE/RAS-EMBS International Conference on Rehabilitation Robotics: Enabling Technology Festival, ICORR 2015. IEEE. 2015. p. 374-379. (IEEE International Conference on Rehabilitation Robotics). doi: 10.1109/ICORR.2015.7281228

Design of powered ankle-foot prosthesis driven by parallel elastic actuator

Abstract

Publication series

Conference

Scopus Subject Areas

User-Defined Keywords

UN SDGs

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