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Optimization and comparison of typical elastic actuators in powered ankle-foot prosthesis

Elastic actuators are broadly applied in the design of the powered ankle-foot prosthesis, so it is a significant task to select and optimize a suitable elastic actuator. Dynamic models of seven kinds of elastic actuators are constructed from a two-degrees-of-freedom vibration system in rotation. Wit...

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Main Authors: Liu, Jingjing, Abu Osman, Noor Azuan, Al Kouzbary, Mouaz, Al Kouzbary, Hamza, Abd Razak, Nasrul Anuar, Shasmin, Hanie Nadia, Arifin, Nooranida
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Published: Inst Control Robotics & Systems, Korean Inst Electrical Engineers 2022
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TJ Mechanical engineering and machinery
TS Manufactures
Online Access:http://eprints.um.edu.my/33568/
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spelling my.um.eprints.335682022-08-03T07:32:33Z http://eprints.um.edu.my/33568/ Optimization and comparison of typical elastic actuators in powered ankle-foot prosthesis Liu, Jingjing Abu Osman, Noor Azuan Al Kouzbary, Mouaz Al Kouzbary, Hamza Abd Razak, Nasrul Anuar Shasmin, Hanie Nadia Arifin, Nooranida TJ Mechanical engineering and machinery TS Manufactures Elastic actuators are broadly applied in the design of the powered ankle-foot prosthesis, so it is a significant task to select and optimize a suitable elastic actuator. Dynamic models of seven kinds of elastic actuators are constructed from a two-degrees-of-freedom vibration system in rotation. With input parameters from sound ankle data during walking, motor data, and the three-dimensional model of the proposed prosthesis, two objectives, which are to minimize the peak mechanical power and mean energy consumption power of the motor, respectively, are optimized by changing the parameters of elastic elements. Unidirectional parallel elastic actuator (UPEA) and UPEA with series spring (SE+UPEA) optimize nearly 75% compared to the direct-driver actuator (DDA) in minimizing the characteristic of peak mechanical power. When it comes to reducing mean energy consumption power, UPEA is also the best, and its performance is at least 15% better than those of the other four kinds of elastic actuators with effective optimization. Besides, features of torque and velocity on the driver end are also compared from elastic actuators to sound ankle. The comparison contributes to understanding the optimization mechanism of different elastic elements, and the optimized and compared performances of elastic actuators can be utilized as the selection basis in the design of the powered ankle-foot prosthesis. Inst Control Robotics & Systems, Korean Inst Electrical Engineers 2022-01 Article PeerReviewed Liu, Jingjing and Abu Osman, Noor Azuan and Al Kouzbary, Mouaz and Al Kouzbary, Hamza and Abd Razak, Nasrul Anuar and Shasmin, Hanie Nadia and Arifin, Nooranida (2022) Optimization and comparison of typical elastic actuators in powered ankle-foot prosthesis. International Journal of Control Automation and Systems, 20 (1). pp. 232-242. ISSN 1598-6446, DOI https://doi.org/10.1007/s12555-020-0980-x <https://doi.org/10.1007/s12555-020-0980-x>. 10.1007/s12555-020-0980-x
institution Universiti Malaya
building UM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaya
content_source UM Research Repository
url_provider http://eprints.um.edu.my/
topic TJ Mechanical engineering and machinery
TS Manufactures
spellingShingle TJ Mechanical engineering and machinery
TS Manufactures
Liu, Jingjing
Abu Osman, Noor Azuan
Al Kouzbary, Mouaz
Al Kouzbary, Hamza
Abd Razak, Nasrul Anuar
Shasmin, Hanie Nadia
Arifin, Nooranida
Optimization and comparison of typical elastic actuators in powered ankle-foot prosthesis
description Elastic actuators are broadly applied in the design of the powered ankle-foot prosthesis, so it is a significant task to select and optimize a suitable elastic actuator. Dynamic models of seven kinds of elastic actuators are constructed from a two-degrees-of-freedom vibration system in rotation. With input parameters from sound ankle data during walking, motor data, and the three-dimensional model of the proposed prosthesis, two objectives, which are to minimize the peak mechanical power and mean energy consumption power of the motor, respectively, are optimized by changing the parameters of elastic elements. Unidirectional parallel elastic actuator (UPEA) and UPEA with series spring (SE+UPEA) optimize nearly 75% compared to the direct-driver actuator (DDA) in minimizing the characteristic of peak mechanical power. When it comes to reducing mean energy consumption power, UPEA is also the best, and its performance is at least 15% better than those of the other four kinds of elastic actuators with effective optimization. Besides, features of torque and velocity on the driver end are also compared from elastic actuators to sound ankle. The comparison contributes to understanding the optimization mechanism of different elastic elements, and the optimized and compared performances of elastic actuators can be utilized as the selection basis in the design of the powered ankle-foot prosthesis.
format Article
author Liu, Jingjing
Abu Osman, Noor Azuan
Al Kouzbary, Mouaz
Al Kouzbary, Hamza
Abd Razak, Nasrul Anuar
Shasmin, Hanie Nadia
Arifin, Nooranida
author_facet Liu, Jingjing
Abu Osman, Noor Azuan
Al Kouzbary, Mouaz
Al Kouzbary, Hamza
Abd Razak, Nasrul Anuar
Shasmin, Hanie Nadia
Arifin, Nooranida
author_sort Liu, Jingjing
title Optimization and comparison of typical elastic actuators in powered ankle-foot prosthesis
title_short Optimization and comparison of typical elastic actuators in powered ankle-foot prosthesis
title_full Optimization and comparison of typical elastic actuators in powered ankle-foot prosthesis
title_fullStr Optimization and comparison of typical elastic actuators in powered ankle-foot prosthesis
title_full_unstemmed Optimization and comparison of typical elastic actuators in powered ankle-foot prosthesis
title_sort optimization and comparison of typical elastic actuators in powered ankle-foot prosthesis
publisher Inst Control Robotics & Systems, Korean Inst Electrical Engineers
publishDate 2022
url http://eprints.um.edu.my/33568/
_version_ 1740826043973894144
score 13.211869

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