Ankle–knee prosthesis with active ankle and energy transfer: Development of the CYBERLEGs Alpha-Prosthesis

Flynn, Louis; Geeroms, Joost; Jiménez‐Fabián, René; Vanderborght, Bram; Vitiello, Nicola; Lefeber, Dirk

doi:10.1016/j.robot.2014.12.013

Cited by 61 publications

(40 citation statements)

References 31 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Klein and Lewis (2009) experimentally demonstrated the transfer of mechanical power between joints in a leg that models all nine major sagittal muscle groups in the human lower limb. This was also demonstrated in a foot-ankle prosthesis in Flynn (2015). Iida et al (2008) and Niiyama et al (2007) used biarticulation in walking and jumping, respectively.…”

Section: Introductionmentioning

confidence: 67%

“…However, its benefits have been demonstrated repeatedly, in test bench setups (Haeufle et al, 2012;Mathijssen et al, 2015Mathijssen et al, , 2016Mettin et al, 2010;Plooij et al, 2016), hopping robots (Liu et al, 2015), bipedal walkers (Mazumdar et al, 2016;Yang et al, 2008), and humanoids (Shirata et al, 2007). Other fields of application are exoskeletons (Toxiri et al, 2018) and prostheses, where parallel compliance has been utilized in prosthetic ankles (Au et al, 2009;Flynn, 2015;Jimenez-Fabian et al, 2017;Realmuto et al, 2015) and knees (Pfeifer et al, 2015;Rouse et al, 2013), to reduce the motor torque required to produce the desired deflection-torque profiles. A common problem with parallel compliance is that during some phases of the motion the parallel element's generated torque is not well aligned with the desired torque.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

An efficient leg with series–parallel and biarticular compliant actuation: design optimization, modeling, and control of the eLeg

Roozing

Ren

Tsagarakis

2019

The International Journal of Robotics Research

View full text Add to dashboard Cite

We present the development, modeling, and control of a three-degree-of-freedom compliantly actuated leg called the eLeg, which employs both series- and parallel-elastic actuation as well as a bio-inspired biarticular tendon. The leg can be reconfigured to use three distinct actuation configurations, to directly compare with a state-of-the-art series-elastic actuation scheme. Critical actuation design parameters are derived through optimization. A rigorous modeling approach is presented using the concept of power flows, which are also used to demonstrate the ability to transfer mechanical power between ankle and knee joints using the biarticular tendon. The design principles and control strategies were verified both in simulation and experiment. Notably, the experimental data demonstrate significant improvements of 65–75% in electrical energy consumption compared with a state-of-the-art series-elastic actuator configuration.

show abstract

Section: Introductionmentioning

confidence: 67%

Section: Introductionmentioning

confidence: 99%

An efficient leg with series–parallel and biarticular compliant actuation: design optimization, modeling, and control of the eLeg

Roozing

Ren

Tsagarakis

2019

The International Journal of Robotics Research

View full text Add to dashboard Cite

show abstract

“…The use of elastic elements in ankle orthoses and prostheses has been extensively studied, both for passive [13], [17] and active [18]- [20] devices. These devices aim at improving the walking performance, such as metabolic cost or mechanical power, of the wearer.…”

Section: Application I: Ankle Prosthesismentioning

confidence: 99%

Unparameterized Optimization of the Spring Characteristic of Parallel Elastic Actuators

Spaa

Wolfslag

Wisse

2019

IEEE Robot. Autom. Lett.

View full text Add to dashboard Cite

In electrically actuated robots most energy losses are due to the heating of the actuators. This energy loss can be greatly reduced with parallel elastic actuators, by optimizing the elastic element such that it delivers most of the required torques. Previously used optimization methods relied on parameterizing the spring characteristic, thereby limiting the set of spring characteristics optimized over and with that the loss reduction that can be obtained. This paper shows that such parametrization is not necessary; a method is presented to compute the optimal characteristic as an analytic function of the trajectory. The efficacy of this method is demonstrated using two examples. The first example considers the optimal spring characteristic for a parallel elastic actuator supporting the human ankle during walking. The second example applies the method in combination with trajectory optimization on a single degree of freedom robot performing a specific pick-andplace task. The task at hand has a height difference between the pick and the place location. With the analytical optimal spring, it is shown that the robot can recover enough of the energy released by the package to function without external electric energy supply.

show abstract

“…Type 2C-3S CEAs have been applied both in parallel to a motor [21][22][23][24] and without a motor [25][26][27][28][29][30][31][32]. There are four studies with a completely different implementation of this type of CEA.…”

Section: A Type 2c-3smentioning

confidence: 99%

Clutched Elastic Actuators

Plooij

Wolfslag

Wisse

2017

IEEE/ASME Trans. Mechatron.

View full text Add to dashboard Cite

Abstract-This paper identifies the class of actuators called clutched elastic actuators (CEAs). CEAs use clutches to control the energy flow into springs. CEAs in exoskeletons, prostheses, legged robots and robotic arms have shown the ability to reduce the energy consumption and motor requirements such as peak torque and peak power. Because of those abilities, they are increasingly used in robotics. In this paper, we categorize existing CEA designs, identify trends in those designs and provide a method to analyze their functionality. Based on a literature survey, current CEA designs are placed in nine categories, depending on their morphology. The main trend is that CEA designs are becoming more complex, meaning that the number of clutches and springs increases. We show with the introduced mathematical analysis that the functionality can be analyzed with a constraint matrix, a stiffness matrix and multiplication of a clutch dependent diagonal matrix with an oriented incidence matrix. This method eases the analysis of the functionality of CEAs. Furthermore, it can lead to new CEA designs in which the number of resulting stiffnesses grows exponentially with the number of springs and clutches.

show abstract

Ankle–knee prosthesis with active ankle and energy transfer: Development of the CYBERLEGs Alpha-Prosthesis

Cited by 61 publications

References 31 publications

An efficient leg with series–parallel and biarticular compliant actuation: design optimization, modeling, and control of the eLeg

An efficient leg with series–parallel and biarticular compliant actuation: design optimization, modeling, and control of the eLeg

Unparameterized Optimization of the Spring Characteristic of Parallel Elastic Actuators

Clutched Elastic Actuators

Contact Info

Product

Resources

About