0
Journal of Biomechanical Engineering | Volume 128 | Issue 5 | Technical Brief
TECHNICAL BRIEFS

An Efficient Robotic Tendon for Gait Assistance

[+] Author and Article Information
Kevin W. Hollander

Departments of Mechanical and Aerospace Engineering, and Industrial Design, Arizona State University, Tempe, AZ 85287-6106kevin.hollander@asu.edu

Robert Ilg, Thomas G. Sugar, Donald Herring

Departments of Mechanical and Aerospace Engineering, and Industrial Design, Arizona State University, Tempe, AZ 85287-6106

J Biomech Eng 128(5), 788-791 (Mar 22, 2006) (4 pages) doi:10.1115/1.2264391 History: Received August 18, 2005; Revised March 22, 2006
Article
References
Figures
Citing Articles

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.
FIGURES IN THIS ARTICLE
<>
Copyright © 2006 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
+Robotic tendon model: motor and spring in series
View Large  |  Save Figure  |  Download Slide (.ppt)
Robotic tendon model: motor and spring in series
Figure 1

Robotic tendon model: motor and spring in series

Grahic Jump Location
+Normal ankle gait: kinematics and kinetics
View Large  |  Save Figure  |  Download Slide (.ppt)
Normal ankle gait: kinematics and kinetics
Figure 2

Normal ankle gait: kinematics and kinetics

Grahic Jump Location
+Optimization of stiffness, K
View Large  |  Save Figure  |  Download Slide (.ppt)
Optimization of stiffness, K
Figure 3

Optimization of stiffness, K

Grahic Jump Location
+The power required for the human ankle in gait versus the input power needed for the motor driving the robotic tendon
View Large  |  Save Figure  |  Download Slide (.ppt)
The power required for the human ankle in gait versus the input power needed for the motor driving the robotic tendon
Figure 4

The power required for the human ankle in gait versus the input power needed for the motor driving the robotic tendon

Grahic Jump Location
+A second generation, powered ankle-orthosis will be designed using a robotic tendon. In this example, the spring and the power unit are separated for compactness.
View Large  |  Save Figure  |  Download Slide (.ppt)
A second generation, powered ankle-orthosis will be designed using a robotic tendon. In this example, the spring and the power unit are separated for compactness.
Figure 5

A second generation, powered ankle-orthosis will be designed using a robotic tendon. In this example, the spring and the power unit are separated for compactness.

Grahic Jump Location
+The predicted moment is calculated from Fig. 2. The measured moment is calculated knowing the deflection of the spring during the gait cycle.
View Large  |  Save Figure  |  Download Slide (.ppt)
The predicted moment is calculated from Fig. 2. The measured moment is calculated knowing the deflection of the spring during the gait cycle.
Figure 6

The predicted moment is calculated from Fig. 2. The measured moment is calculated knowing the deflection of the spring during the gait cycle.

Grahic Jump Location
+Power comparison between predicted and measured power of the motor driving the robotic tendon versus the power required for the human ankle in gait
View Large  |  Save Figure  |  Download Slide (.ppt)
Power comparison between predicted and measured power of the motor driving the robotic tendon versus the power required for the human ankle in gait
Figure 7

Power comparison between predicted and measured power of the motor driving the robotic tendon versus the power required for the human ankle in gait

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Reassessment
Air Engines> Chapter 6
Post-Revival
Air Engines> Chapter 7
Two Decades of Optimism
Air Engines> Chapter 9
Completing the Picture
Air Engines> Chapter 11
Determination of the Effects of Safflower Biodiesel and Its Blends with Diesel Fuel on Engine Performance and Emissions in a Single Cylinder Diesel Engine
International Conference on Software Technology and Engineering, 3rd (ICSTE 2011)
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In