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

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

Research output: Chapter in book/report/conference proceedingConference contributionpeer-review

11 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 languageEnglish
Title of host publicationProceedings of the IEEE/RAS-EMBS International Conference on Rehabilitation Robotics
Subtitle of host publicationEnabling Technology Festival, ICORR 2015
EditorsHaoyong Yu, David Braun, Domenico Campolo
PublisherIEEE
Pages374-379
Number of pages6
ISBN (Electronic)9781479918089, 9781479918072
DOIs
Publication statusPublished - Aug 2015
Event14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015 - Nanyang Technological University, Singapore
Duration: 11 Aug 201514 Aug 2015
https://ieeexplore.ieee.org/xpl/conhome/7256409/proceeding

Publication series

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

Conference

Conference14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015
Country/TerritorySingapore
Period11/08/1514/08/15
Internet address

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

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