Development and analysis of series elastic actuators for impedance control of an active ankle–foot orthosis

2013 ◽  
Vol 36 (3) ◽  
pp. 501-510 ◽  
Author(s):  
Bruno Jardim ◽  
Adriano A. G. Siqueira
Keyword(s):  
Impedance Control ◽  
Ankle Foot Orthosis ◽  
Series Elastic Actuators ◽  
Foot Orthosis ◽  
Series Elastic

scholarly journals The Application of Series Elastic Actuators in the Hydraulic Ankle-Foot Orthosis

2018 ◽  
Author(s):  
Jeong Yong Kim ◽  
William Durfee
Keyword(s):  
Average Power ◽  
Gait Pattern ◽  
High Peak ◽  
High Peak Power ◽  
Ankle Foot Orthosis ◽  
System A ◽  
Power Profile ◽  
Series Elastic Actuators ◽  
Foot Orthosis ◽  
Series Elastic

Advances in ankle-foot orthosis (AFO) technology have been trending toward more powerful and lightweight devices. A hydraulic series elastic actuator (HSEA) was explored to design a lightweight powered AFO that meets the high peak power demand of ankle gait. With its excellent power density and its ability to separate the power supply from the actuator using a hose, hydraulic power was used, combined with an SEA that takes advantage of the high-peak and low-average power profile of ankle gait to store energy and release it during the push-off stage of gait. The parameters required for the SEA were determined and validated using simulation. A gait pattern that would require 235W of motor power was able to be tracked using a motor rated at 95W. The actuator weight of the hydraulic ankle-foot orthosis (HAFO) at the ankle was 0.35, which is 43% of an equivalent electromechanical system. A novel design of an HSEA with a clutch capability is proposed for future HAFO applications.

scholarly journals Design and Physical Modelling Series Elastic Actuator for Ankle-Foot Orthosis

2020 ◽  
Vol 9 (5) ◽  
pp. 210-215
Keyword(s):  
Plantar Flexion ◽  
Physical Modelling ◽  
Walking Ability ◽  
Rehabilitation Process ◽  
Ankle Foot Orthosis ◽  
Series Elastic Actuator ◽  
Ankle Movement ◽  
Basic Movement ◽  
Foot Orthosis ◽  
Series Elastic

This paper describes the development of Physical Modelling of Series Elastic Actuator for Active Ankle-Foot Orthosis by using Simscape Multibody Link. Active Ankle-Foot Orthosis is essential that can be used for the rehabilitation process to the patient. It is useful in medicine to help a patient who loses their walking ability, due to ankle weakness, to regain the walking ability. This project focuses on the design, simulate and physical modelling for Ankle-Foot Orthosis. This project was used Solidworks as a platform to design the Active Ankle-Foot Orthosis and using MatLab/Simulink for simulation by using Simscape Multibody Link tools. The Active Ankle-Foot Orthosis moves in 2 basic movement of ankle that is dorsiflexion and plantar flexion for rehabilitation. So, this project focuses on the physical modelling for the Series Elastic Actuator that drives the ankle movement mimicking the normal gait cycle.

Development of Robotic Ankle–Foot Orthosis With Series Elastic Actuator and Magneto-Rheological Brake

2020 ◽  
Vol 13 (1) ◽  
Author(s):  
Bing Chen ◽  
Bin Zi ◽  
Zhengyu Wang ◽  
Yuan Li ◽  
Jun Qian
Keyword(s):  
Average Power ◽  
Electronic System ◽  
The Body ◽  
Planetary Gearbox ◽  
Ankle Foot Orthosis ◽  
Series Elastic Actuator ◽  
Braking Torque ◽  
Magneto Rheological ◽  
Foot Orthosis ◽  
Series Elastic

Abstract This paper illustrates the development and experimental validation of a robotic ankle–foot orthosis (AFO) with a series elastic actuator (SEA) and a magneto-rheological (MR) brake. First, the biomechanics of a human ankle joint during walking is explained. Next, the hardware design of the robotic AFO is introduced, including its mechanical structure, actuator design and configuration, and electronic system. The SEA is primarily composed of an electric motor, a planetary gearbox, a torsion spring, and a pair of bevel gears. The MR brake can modulate the viscosity of the robotic AFO and generate a large braking torque of 21.8 Nm with a low power of 8.8 W. Additionally, the modeling of the robotic AFO is presented, followed by an introduction to its control; several gait evaluation indices are proposed as well. Finally, a pilot study is conducted to verify the effectiveness of the developed robotic AFO. The experimental results demonstrate that the robotic AFO has the potential to provide dorsiflexion assistance, thus preventing foot slap and toe drag, in addition to plantarflexion assistance for the forward propulsion of the body. During a gait cycle, an average power of 0.23 W is harvested, and an 8% improvement in the system energy efficiency is achieved.

scholarly journals Impedance Control and Performance Measure of Series Elastic Actuators

2018 ◽  
Vol 65 (3) ◽  
pp. 2817-2827 ◽  
Author(s):  
Ye Zhao ◽  
Nicholas Paine ◽  
Steven Jens Jorgensen ◽  
Luis Sentis
Keyword(s):  
Impedance Control ◽  
Performance Measure ◽  
And Performance ◽  
Series Elastic Actuators ◽  
Series Elastic

Impedance control of series elastic actuators: Passivity and acceleration-based control

Mechatronics ◽  
2017 ◽  
Vol 47 ◽  
pp. 37-48 ◽  
Author(s):  
Andrea Calanca ◽  
Riccardo Muradore ◽  
Paolo Fiorini
Keyword(s):  
Impedance Control ◽  
Series Elastic Actuators ◽  
Series Elastic
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