Energetic and Peak Power Advantages of Series Elastic Actuators in an Actuated Prosthetic Leg for Walking and Running
Energetic and Peak Power Advantages of Series Elastic Actuators in an Actuated Prosthetic Leg for Walking and Running
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DOI：
10.3390/act3010001
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发表时间：
2014-03-01
期刊：
影响因子：
2.6
通讯作者：
Seyfarth, Andre
中科院分区：
文献类型：
--
作者：
Grimmer, Martin;Eslamy, Mahdy;Seyfarth, Andre
单关节系列弹性致动器（SEA）与主动假肢踝足设计中的直接驱动器（DD）相比，降低了能量和峰值功率要求。模拟研究表明，膝关节可能具有类似的优势。本文的目的是研究单关节SEA驱动髋关节的优势，并量化SEA驱动腿（具有单关节髋关节、膝关节和踝关节SEA）的能量效益，假设阻尼（负功率）是被动实现的。与膝关节和踝关节SEA相比，髋关节SEA在行走中提供了较小的能量优势（高达29%）。仅在接近首选步行速度的速度下观察到所需峰值功率的降低（18%至27%）。在运行中没有发现能量优势，其中DD在优化能量时实现了最佳性能。在矢状面中的每个腿部关节处使用SEA使行走的正功减少了14%至39%，使跑步的正功减少了37%至75%。当使用SEA而不是DD时，三个腿部关节对做正功的贡献发生了变化：膝关节贡献较少，髋关节贡献更多。对于单关节SEA，踝关节运动做了大部分的正功。
A monoarticular series elastic actuator (SEA) reduces energetic and peak power requirements compared to a direct drive (DD) in active prosthetic ankle-foot design. Simulation studies have shown that similar advantages are possible for the knee joint. The aims of this paper were to investigate the advantages of a monoarticular SEA-driven hip joint and to quantify the energetic benefit of an SEA-driven leg (with monoarticular hip, knee and ankle SEAs), assuming that damping (negative power) is passively achieved. The hip SEA provided minor energetic advantages in walking (up to 29%) compared to the knee and the ankle SEA. Reductions in required peak power were observed only for speeds close to preferred walking speed (18% to 27%). No energetic advantages were found in running, where a DD achieved the best performance when optimizing for energy. Using an SEA at each leg joint in the sagittal plane reduced the positive work by 14% to 39% for walking and by 37% to 75% for running. When using an SEA instead of a DD, the contribution of the three leg joints to doing positive work changed: the knee contributed less and the hip more positive work. For monoarticular SEAs, the ankle joint motor did most of the positive work.