Effects of unidirectional parallel springs on required peak power and energy in powered prosthetic ankles: Comparison between different active actuation concepts

@article{Eslamy2012EffectsOU,
  title={Effects of unidirectional parallel springs on required peak power and energy in powered prosthetic ankles: Comparison between different active actuation concepts},
  author={Mahdy Eslamy and Martin Grimmer and Andr{\'e} Seyfarth},
  journal={2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)},
  year={2012},
  pages={2406-2412}
}
Peak power, peak torque and energy requirements are amongst the main issues for powered prosthetic ankles. Including series elastic actuators (SEA) can reduce peak power and energy requirements by reducing motor speed in comparison to a Direct Drive (DD). Parallel elastic actuation concept (PEA, the parallel spring can be compressed and elongated) can reduce the peak power even more by reducing required motor torque. However, the energy consumption increases in comparison to SEA. In this paper… CONTINUE READING

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