A Robotic “Jack Spring”™ for Ankle Gait Assistance

2005 ◽  
Author(s):  
Kevin W. Hollander ◽  
Thomas G. Sugar ◽  
Donald E. Herring
Keyword(s):  
Peak Power ◽  
Energy Requirements ◽  
Linear Actuator ◽  
Direct Drive ◽  
Structure Control ◽  
New Type ◽  
Power And Energy ◽  
The Ideal

A Robotic ‘Jack Spring’™ is a new type of mechanical actuator, which is based upon the concept of structure control. A Jack Spring™ mechanism is used to create an adjustable Robotic Tendon, which is a spring based linear actuator in which the properties of a spring are crucial to its successful use in gait assistance. Like its human analog, the adjustable Robotic Tendon uses its inherent elastic nature to reduce both peak power and energy requirements for its motor. In the ideal example, peak power required of the motor for ankle gait is reduced from 250W to just 81 W. In addition, ideal energy requirements are reduced from nearly 36 Joules to just 25 Joules per step. Using this approach, an initial prototype is expected to provide 100% of the power and energy neccessary for ankle gait in a compact 0.84kg package. This weight is 8 times less than that predicted for an equivalent direct drive approach.

An Efficient Robotic Tendon for Gait Assistance

2006 ◽  
Vol 128 (5) ◽  
pp. 788-791 ◽  
Author(s):  
Kevin W. Hollander ◽  
Robert Ilg ◽  
Thomas G. Sugar ◽  
Donald Herring
Keyword(s):  
Energy Efficient ◽  
Peak Power ◽  
Energy Requirements ◽  
Linear Actuator ◽  
Equivalent Motor ◽  
Power And Energy ◽  
The Ideal

A robotic tendon is a spring based, linear actuator in which the stiffness of the spring is crucial for its successful use in a lightweight, energy efficient, powered ankle orthosis. Like its human analog, the robotic tendon uses its inherent elastic nature to reduce both peak power and energy requirements for its motor. In the ideal example, peak power required of the motor for ankle gait is reduced from 250 W to just 77 W. In addition, ideal energy requirements are reduced from nearly 36 J to just 21 J. Using this approach, an initial prototype has provided 100% of the power and energy necessary for ankle gait in a compact 0.95kg package, seven times less than an equivalent motor/gearbox system.

scholarly journals Determining Application-specific Peak Power and Energy Requirements for Ultra-low Power Processors

2017 ◽  
Vol 45 (1) ◽  
pp. 3-16 ◽  
Author(s):  
Hari Cherupalli ◽  
Henry Duwe ◽  
Weidong Ye ◽  
Rakesh Kumar ◽  
John Sartori
Keyword(s):  
Low Power ◽  
Peak Power ◽  
Energy Requirements ◽  
Ultra Low Power ◽  
Power And Energy ◽  
Application Specific

scholarly journals Determining Application-specific Peak Power and Energy Requirements for Ultra-low Power Processors

2017 ◽  
Vol 51 (2) ◽  
pp. 3-16
Author(s):  
Hari Cherupalli ◽  
Henry Duwe ◽  
Weidong Ye ◽  
Rakesh Kumar ◽  
John Sartori
Keyword(s):  
Low Power ◽  
Peak Power ◽  
Energy Requirements ◽  
Ultra Low Power ◽  
Power And Energy ◽  
Application Specific

scholarly journals Determining Application-specific Peak Power and Energy Requirements for Ultra-low Power Processors

2017 ◽  
Vol 52 (4) ◽  
pp. 3-16
Author(s):  
Hari Cherupalli ◽  
Henry Duwe ◽  
Weidong Ye ◽  
Rakesh Kumar ◽  
John Sartori
Keyword(s):  
Low Power ◽  
Peak Power ◽  
Energy Requirements ◽  
Ultra Low Power ◽  
Power And Energy ◽  
Application Specific

Determining Application-Specific Peak Power and Energy Requirements for Ultra-Low-Power Processors

2017 ◽  
Vol 35 (3) ◽  
pp. 1-33 ◽  
Author(s):  
Hari Cherupalli ◽  
Henry Duwe ◽  
Weidong Ye ◽  
Rakesh Kumar ◽  
John Sartori
Keyword(s):  
Low Power ◽  
Peak Power ◽  
Energy Requirements ◽  
Ultra Low Power ◽  
Power And Energy ◽  
Application Specific

New type electron gun with electrostatic and electromagnetic lenses

1978 ◽  
Vol 36 (1) ◽  
pp. 62-63
Author(s):  
T. Ichinokawa ◽  
H. Maeda
Keyword(s):  
Electron Microscopy ◽  
Electron Beam ◽  
Optimum Condition ◽  
Bias Voltage ◽  
Electron Gun ◽  
Charge Effect ◽  
Micro Fabrication ◽  
Maximum Brightness ◽  
New Type ◽  
The Ideal

I. IntroductionThermionic electron gun with the Wehnelt grid is popularly used in the electron microscopy and electron beam micro-fabrication. It is well known that this gun could get the ideal brightness caluculated from the Lengumier and Richardson equations under the optimum condition. However, the design and ajustment to the optimum condition is not so easy. The gun has following properties with respect to the Wehnelt bias; (1) The maximum brightness is got only in the optimum bias. (2) In the larger bias than the optimum, the brightness decreases with increasing the bias voltage on account of the space charge effect. (3) In the smaller bias than the optimum, the brightness decreases with bias voltage on account of spreading of the cross over spot due to the aberrations of the electrostatic immersion lens.In the present experiment, a new type electron gun with the electrostatic and electromagnetic lens is designed, and its properties are examined experimentally.

The effects of variable mechanical parameters on peak power and energy consumption of ankle-foot prostheses at different speeds

2018 ◽  
Vol 32 (23) ◽  
pp. 1229-1240 ◽  
Author(s):  
Dianbiao Dong ◽  
Bryan Convens ◽  
Yuanxi Sun ◽  
Wenjie Ge ◽  
Pierre Cherelle ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Peak Power ◽  
Mechanical Parameters ◽  
Power And Energy
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