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- W2000624348 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." @default.
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- W2000624348 date "2013-06-01" @default.
- W2000624348 modified "2023-10-14" @default.
- W2000624348 title "Clutchable series-elastic actuator: Design of a robotic knee prosthesis for minimum energy consumption" @default.
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- W2000624348 doi "https://doi.org/10.1109/icorr.2013.6650383" @default.
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