Bartlett Harrison L, Lawson Brian E, Goldfarb Michael
IEEE Int Conf Rehabil Robot. 2017 Jul;2017:1531-1536. doi: 10.1109/ICORR.2017.8009465.
This paper presents the design and characterization of a power-asymmetric actuator for a transtibial prosthesis. The device is designed to provide the combination of: 1) joint locking, 2) high power dissipation, and 3) low power generation. This actuator functionality allows for a prosthesis to be designed with minimal mass and power consumption relative to a fully-powered robotic prosthesis while maintaining much of the functionality necessary for activities of daily living. The actuator achieves these design characteristics while maintaining a small form factor by leveraging a combination of electromechanical and hydraulic components. The design of the actuator is described herein, and results of an experimental characterization are provided that indicate that the actuator is capable of providing the functional capabilities required of an ankle prosthesis in a compact and lightweight package.
本文介绍了一种用于小腿假肢的功率不对称致动器的设计与特性。该装置旨在提供以下功能组合：1）关节锁定，2）高功率耗散，3）低功率产生。这种致动器功能使得假肢能够在相对于全功率机器人假肢质量和功耗最小的情况下进行设计，同时保持日常生活活动所需的大部分功能。该致动器通过利用机电和液压部件的组合，在保持小尺寸外形的同时实现了这些设计特性。本文描述了致动器的设计，并提供了实验特性结果，表明该致动器能够在紧凑轻便的封装中提供脚踝假肢所需的功能能力。
