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Related Experiment Videos

An efficient robotic tendon for gait assistance.

Kevin W Hollander1, Robert Ilg, Thomas G Sugar

  • 1Departments of Mechanical and Aerospace Engineering, and Industrial Design, Arizona State University, Tempe, AZ 85287-6106, USA. kevin.hollander@asu.edu

Journal of Biomechanical Engineering
|September 26, 2006
PubMed
Summary

A novel robotic tendon, crucial for powered ankle orthoses, uses spring stiffness to significantly reduce motor power and energy demands. This innovation enables lightweight, energy-efficient ankle gait assistance.

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Area of Science:

  • Robotics
  • Biomechanics
  • Biomedical Engineering

Background:

  • Powered ankle orthoses require lightweight, energy-efficient actuators.
  • Spring-based designs can mimic biological elastic mechanisms.
  • Traditional actuators face challenges in power and energy efficiency for gait assistance.

Purpose of the Study:

  • To investigate the efficacy of a spring-based robotic tendon for powered ankle orthoses.
  • To quantify the reduction in power and energy requirements using this novel actuator.
  • To assess the feasibility of a compact and lightweight robotic tendon system.

Main Methods:

  • Developed a spring-based linear actuator (robotic tendon).
  • Integrated the robotic tendon into a powered ankle orthosis prototype.

Related Experiment Videos

  • Measured motor power and energy consumption during simulated ankle gait.

    • Main Results:

    • The robotic tendon significantly reduced peak motor power from 250 W to 77 W.
    • Ideal energy requirements for ankle gait decreased from 36 J to 21 J.
    • A 0.95 kg prototype provided 100% of necessary power and energy for ankle gait.

    Conclusions:

    • Spring-based robotic tendons are effective for lightweight, energy-efficient powered ankle orthoses.
    • This technology offers substantial reductions in power and energy demands compared to conventional systems.
    • The robotic tendon presents a promising solution for improving mobility assistance devices.