Conception and evaluation of a novel variable torsion stiffness for biomechanical applications
Conception and evaluation of a novel variable torsion stiffness for biomechanical applications
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DOI：
10.1109/biorob.2012.6290778
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发表时间：
2012-06
期刊：
影响因子：
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通讯作者：
J. Schuy;P. Beckerle;J. Wojtusch;S. Rinderknecht;O. von Stryk
中科院分区：
文献类型：
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作者：
J. Schuy;P. Beckerle;J. Wojtusch;S. Rinderknecht;O. von Stryk
针对膝关节等生物力学应用，提出了一种新型的可变扭转刚度（VTS）方法。通过可重新定位的反轴承改变扭转弹性元件的有效长度，可以调整旋转关节的刚度。作者对这一功能概念进行了详细的阐述，并对该类VTS节点的设计进行了阐述。此外，还推导了动力传动系统传递特性和刚度控制的解析模型。这些用于模拟评估由VTS单元驱动的钟摆。根据仿真结果，分析了VTS的功率需求。并对其结构强度进行了分析。为了便于理解，本文多次以人工膝关节的设计为例。最后，对VTS的概念、建模和设计以及仿真结果进行了总结和讨论，并进行了最后的评估和与其他当代概念的比较。
This paper proposes a novel variable torsion stiffness (VTS) aiming on biomechanical applications like prosthetic knee joints. By varying the effective length of a torsional elastic element via a relocatable counter bearing, the stiffness of a rotational joint is adjusted. This functional concept is described in detail by the authors as well as the design of such VTS joints. Additionally, analytical models for the transfer behaviour of drivetrain and stiffness control are derived. These are used for a simulative evaluation of a pendulum driven by a VTS unit. Based on the results of this simulation, the power requirements of VTS are analysed. Furthermore, an analysis of its structural strength is presented. For practical comprehensibility, the example of the design of a prosthetic knee joint is taken up for several times in this paper. Finally, the concept, modeling and design of VTS as well as the simulation results are concluded and discussed in a final assessment and in comparison to other contemporary concepts.