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Impact of friction and gait parameters on the optimization of series elastic actuators for gait assistance

Author
Stuhlenmiller, F.; Clos, D.; Rinderknecht, S.; Beckerle, P.; Font-Llagunes, J.M.
Type of activity
Journal article
Journal
Mechanism and machine theory
Date of publication
2019-03-01
Volume
133
Number
March
First page
737
Last page
749
DOI
https://doi.org/10.1016/j.mechmachtheory.2018.12.009 Open in new window
Project funding
Low-cost motor-FES hybrid orthosis for the gait of spinal cord injured subjects and simulation methods to support the design and adaptation
Repository
http://hdl.handle.net/2117/127806 Open in new window
URL
https://linkinghub.elsevier.com/retrieve/pii/S0094114X18314289 Open in new window
Abstract
Elastic actuators feature increased energy efficiency and improved human-robot interaction compared to directly driven concepts for active orthoses and prostheses. Structure and parameters of the elastic actuation system are often designed via a model-based minimization of energy consumption based on gait data gained from healthy individuals. However, natural motion exhibits variability among individuals and may not consider requirements of persons using assistive devices. A parametric study is ...
Citation
Stuhlenmiller, F. [et al.]. Impact of friction and gait parameters on the optimization of series elastic actuators for gait assistance. "Mechanism and machine theory", 1 Març 2019, vol. 133, núm. March, p. 737-749.
Keywords
Compliant actuators, Design optimization, Energy efficiency, Series elasticity
Group of research
BIOMEC - Biomechanical Engineering Lab
CREB - Biomedical Engineering Research Centre

Participants