Ao Fu, Chenglong Fu, Kun Wang, Dan-Yong Zhao, Xuechao Chen, Ken Chen
{"title":"主动电股假体设计中的关键参数选择","authors":"Ao Fu, Chenglong Fu, Kun Wang, Dan-Yong Zhao, Xuechao Chen, Ken Chen","doi":"10.1109/ROBIO.2013.6739715","DOIUrl":null,"url":null,"abstract":"This paper presents an electrical powered transfemoral prosthesis. The knee joint is actuated by a motor-driven ball screw assembly and the ankle joint is motioned by a series elastic actuator. An undirectional spring is attached paralleled with the SEA to store energy during dorsiflexion and bias load of ankle torque. To mimic biomechanical gait data and make the prosthesis compact and anthropomorphic, some key parameters are calculated to achieve optimal solution. These parameters include the length of crank rocker of knee and ankle joint, the stiffness of series and parallel spring and the dimension of the series leaf spring. The analysis procedure is demonstrated in this paper.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"8","resultStr":"{\"title\":\"The key parameter selection in design of an active electrical transfemoral prosthesis\",\"authors\":\"Ao Fu, Chenglong Fu, Kun Wang, Dan-Yong Zhao, Xuechao Chen, Ken Chen\",\"doi\":\"10.1109/ROBIO.2013.6739715\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents an electrical powered transfemoral prosthesis. The knee joint is actuated by a motor-driven ball screw assembly and the ankle joint is motioned by a series elastic actuator. An undirectional spring is attached paralleled with the SEA to store energy during dorsiflexion and bias load of ankle torque. To mimic biomechanical gait data and make the prosthesis compact and anthropomorphic, some key parameters are calculated to achieve optimal solution. These parameters include the length of crank rocker of knee and ankle joint, the stiffness of series and parallel spring and the dimension of the series leaf spring. The analysis procedure is demonstrated in this paper.\",\"PeriodicalId\":434960,\"journal\":{\"name\":\"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"8\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBIO.2013.6739715\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO.2013.6739715","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
The key parameter selection in design of an active electrical transfemoral prosthesis
This paper presents an electrical powered transfemoral prosthesis. The knee joint is actuated by a motor-driven ball screw assembly and the ankle joint is motioned by a series elastic actuator. An undirectional spring is attached paralleled with the SEA to store energy during dorsiflexion and bias load of ankle torque. To mimic biomechanical gait data and make the prosthesis compact and anthropomorphic, some key parameters are calculated to achieve optimal solution. These parameters include the length of crank rocker of knee and ankle joint, the stiffness of series and parallel spring and the dimension of the series leaf spring. The analysis procedure is demonstrated in this paper.