A conceptual design and control of a novel powered ankle–foot prosthesis (RoMicP™) for heavy amputees
A novel powered ankle–foot prosthesis (RoMicP™) is designed for heavy amputees. A novel elastic actuator, namely, a unidirectional parallel elastic actuator with series elastic element (SE+UPEA), is implemented by the employment of a harmonic reducer and a two-level cable-drive system and the applic...
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| Main Authors: | , , , , , , |
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| Format: | Conference or Workshop Item |
| Published: |
Springer Science and Business Media Deutschland GmbH
2022
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| Subjects: | |
| Online Access: | http://eprints.um.edu.my/43477/ https://www.scopus.com/inward/record.uri?eid=2-s2.0-85129248399&doi=10.1007%2f978-3-030-90724-2_28&partnerID=40&md5=700a46d5949cc6965422b5b03482ce24 |
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| Summary: | A novel powered ankle–foot prosthesis (RoMicP™) is designed for heavy amputees. A novel elastic actuator, namely, a unidirectional parallel elastic actuator with series elastic element (SE+UPEA), is implemented by the employment of a harmonic reducer and a two-level cable-drive system and the application of planar torsional springs. The results of mechanical design declare that the designed structure can achieve outstanding performance on both the height of installation position and the motion range of the ankle joint. The mass of all mechanical components can meet the requirements of design. A double-loop impedance control system is developed with two constant parameters and two time-varying parameters. With optimal parameters of parallel and series springs and tuned parameters of the control system, RoMicP™ is verified by simulation under different loads. The simulation results show that the performance is remarkable in tracking the ankle position reference with small errors during walking on level ground, where the torque load on the ankle is equivalent to that of an amputee whose weight is 100 kg. © 2022, Springer Nature Switzerland AG. |
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