Importance of series elasticity in a powered transtibial prosthesis with ankle and toe joints

Jinying Zhu; Qining Wang; Xin Li; Wentao Sun; Haotian She; Qiang Huang

doi:10.1109/ROBIO.2015.7418824

Importance of series elasticity in a powered transtibial prosthesis with ankle and toe joints

Jinying Zhu
, Qining Wang
, Xin Li
, Wentao Sun
, Haotian She
, Qiang Huang

School of Mechatronical Engineering

Beijing Institute of Technology
Peking University
Beijing Engineering Research Center of Intelligent Rehabilitation Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Citations (Scopus)

Abstract

The authors have previously developed a powered transtibial prosthesis with ankle and toe joints to help lower-limb amputees obtain more natural walking gaits. Inspired by the importance of series elasticity in increasing muscle work output and efficiency, series elasticity has been added into the actuators which are used to drive the ankle and toe joints. In this paper, we analyze the effects of series elasticity on the displacement, velocity, and energy consumption of the actuators. Dynamic models of the ankle and toe joints are built and simulations are performed. In these models, the imposed plantar pressures and objective joint angles are measured from locomotion experiments on healthy subjects. Simulation results show that series elasticity can reduce the displacement, maximal velocity, and energy consumption of the actuators. Walking experiments on an amputee subject wearing the prosthesis prototype are carried out. Experimental results validate the importance of series elasticity in reducing the energy consumption of the prosthesis.

Original language	English
Title of host publication	2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	541-546
Number of pages	6
ISBN (Electronic)	9781467396745
DOIs	https://doi.org/10.1109/ROBIO.2015.7418824
Publication status	Published - 2015
Event	IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 - Zhuhai, China Duration: 6 Dec 2015 → 9 Dec 2015

Publication series

Name	2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

Conference

Conference	IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Country/Territory	China
City	Zhuhai
Period	6/12/15 → 9/12/15

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

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10.1109/ROBIO.2015.7418824

Cite this

Zhu, J., Wang, Q., Li, X., Sun, W., She, H., & Huang, Q. (2015). Importance of series elasticity in a powered transtibial prosthesis with ankle and toe joints. In 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 (pp. 541-546). Article 7418824 (2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2015.7418824

Zhu, Jinying ; Wang, Qining ; Li, Xin et al. / Importance of series elasticity in a powered transtibial prosthesis with ankle and toe joints. 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 541-546 (2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015).

@inproceedings{327fa3ebe0504358beeb6d614ce5a47a,

title = "Importance of series elasticity in a powered transtibial prosthesis with ankle and toe joints",

abstract = "The authors have previously developed a powered transtibial prosthesis with ankle and toe joints to help lower-limb amputees obtain more natural walking gaits. Inspired by the importance of series elasticity in increasing muscle work output and efficiency, series elasticity has been added into the actuators which are used to drive the ankle and toe joints. In this paper, we analyze the effects of series elasticity on the displacement, velocity, and energy consumption of the actuators. Dynamic models of the ankle and toe joints are built and simulations are performed. In these models, the imposed plantar pressures and objective joint angles are measured from locomotion experiments on healthy subjects. Simulation results show that series elasticity can reduce the displacement, maximal velocity, and energy consumption of the actuators. Walking experiments on an amputee subject wearing the prosthesis prototype are carried out. Experimental results validate the importance of series elasticity in reducing the energy consumption of the prosthesis.",

author = "Jinying Zhu and Qining Wang and Xin Li and Wentao Sun and Haotian She and Qiang Huang",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 ; Conference date: 06-12-2015 Through 09-12-2015",

year = "2015",

doi = "10.1109/ROBIO.2015.7418824",

language = "English",

series = "2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "541--546",

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address = "United States",

}

Zhu, J, Wang, Q, Li, X, Sun, W, She, H & Huang, Q 2015, Importance of series elasticity in a powered transtibial prosthesis with ankle and toe joints. in 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015., 7418824, 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015, Institute of Electrical and Electronics Engineers Inc., pp. 541-546, IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015, Zhuhai, China, 6/12/15. https://doi.org/10.1109/ROBIO.2015.7418824

Importance of series elasticity in a powered transtibial prosthesis with ankle and toe joints. / Zhu, Jinying; Wang, Qining; Li, Xin et al.
2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 541-546 7418824 (2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Importance of series elasticity in a powered transtibial prosthesis with ankle and toe joints

AU - Zhu, Jinying

AU - Wang, Qining

AU - Li, Xin

AU - Sun, Wentao

AU - She, Haotian

AU - Huang, Qiang

PY - 2015

Y1 - 2015

N2 - The authors have previously developed a powered transtibial prosthesis with ankle and toe joints to help lower-limb amputees obtain more natural walking gaits. Inspired by the importance of series elasticity in increasing muscle work output and efficiency, series elasticity has been added into the actuators which are used to drive the ankle and toe joints. In this paper, we analyze the effects of series elasticity on the displacement, velocity, and energy consumption of the actuators. Dynamic models of the ankle and toe joints are built and simulations are performed. In these models, the imposed plantar pressures and objective joint angles are measured from locomotion experiments on healthy subjects. Simulation results show that series elasticity can reduce the displacement, maximal velocity, and energy consumption of the actuators. Walking experiments on an amputee subject wearing the prosthesis prototype are carried out. Experimental results validate the importance of series elasticity in reducing the energy consumption of the prosthesis.

AB - The authors have previously developed a powered transtibial prosthesis with ankle and toe joints to help lower-limb amputees obtain more natural walking gaits. Inspired by the importance of series elasticity in increasing muscle work output and efficiency, series elasticity has been added into the actuators which are used to drive the ankle and toe joints. In this paper, we analyze the effects of series elasticity on the displacement, velocity, and energy consumption of the actuators. Dynamic models of the ankle and toe joints are built and simulations are performed. In these models, the imposed plantar pressures and objective joint angles are measured from locomotion experiments on healthy subjects. Simulation results show that series elasticity can reduce the displacement, maximal velocity, and energy consumption of the actuators. Walking experiments on an amputee subject wearing the prosthesis prototype are carried out. Experimental results validate the importance of series elasticity in reducing the energy consumption of the prosthesis.

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DO - 10.1109/ROBIO.2015.7418824

M3 - Conference contribution

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BT - 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

PB - Institute of Electrical and Electronics Engineers Inc.

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Zhu J, Wang Q, Li X, Sun W, She H, Huang Q. Importance of series elasticity in a powered transtibial prosthesis with ankle and toe joints. In 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 541-546. 7418824. (2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015). doi: 10.1109/ROBIO.2015.7418824

Importance of series elasticity in a powered transtibial prosthesis with ankle and toe joints

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