Comparison of different actuation concepts for the knee joint during stair-climbing

Name: Comparison of different actuation concepts for the knee joint during stair-climbing
Author: Unal, Ramazan, Arfaie, Omid

İsim	Comparison of different actuation concepts for the knee joint during stair-climbing
Yazar	Unal, Ramazan, Arfaie, Omid
Basım Tarihi:	2024-01-01
Basım Yeri	- IEEE
Tür	Belge
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	979-8-3503-8653-0
Kayıt Numarası	98520a7b-f2dd-4aa9-8345-dda8da0f0813
Lokasyon	Mechanical Engineering
Tarih	2024-01-01
Notlar	TÜBİTAK
Örnek Metin	Maximizing efficiency and minimizing metabolic expenditure are pivotal in advancing transfemoral prosthetics. Designing an energy store/release mechanism emerges as a critical pursuit within this scope. This study mainly compares the performance of the direct drive (DD), series elastic actuator (SEA), and parallel elastic actuator (PEA) concepts for a knee joint during the stair-climbing task. Additionally, the conceptual design of an actuator utilizing a mechanism to transfer the generated force by the actuator to the knee joint is proposed. It is shown that the actuator's weight of the proposed robotic knee (Rnee) prosthesis is 68%, 60%, and 31% lighter than the DD, SEA, and PEA concepts, respectively. Notably, a comprehensive scoring method evaluating mass, complexity, backdrivability, and inertia solidifies the Rnee as a beacon of efficiency. Its overall score surpasses the DD, SEA, and PEA concepts by 162%, 23.5%, and 5%, respectively.
DOI	10.1109/BIOROB60516.2024.10719797

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Comparison of different actuation concepts for the knee joint during stair-climbing

Yazar Unal, Ramazan, Arfaie, Omid

Basım Tarihi 2024-01-01

Basım Yeri - IEEE

Tür Belge

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 979-8-3503-8653-0

Kayıt Numarası 98520a7b-f2dd-4aa9-8345-dda8da0f0813

Lokasyon Mechanical Engineering

Tarih 2024-01-01

Notlar TÜBİTAK

Örnek Metin Maximizing efficiency and minimizing metabolic expenditure are pivotal in advancing transfemoral prosthetics. Designing an energy store/release mechanism emerges as a critical pursuit within this scope. This study mainly compares the performance of the direct drive (DD), series elastic actuator (SEA), and parallel elastic actuator (PEA) concepts for a knee joint during the stair-climbing task. Additionally, the conceptual design of an actuator utilizing a mechanism to transfer the generated force by the actuator to the knee joint is proposed. It is shown that the actuator's weight of the proposed robotic knee (Rnee) prosthesis is 68%, 60%, and 31% lighter than the DD, SEA, and PEA concepts, respectively. Notably, a comprehensive scoring method evaluating mass, complexity, backdrivability, and inertia solidifies the Rnee as a beacon of efficiency. Its overall score surpasses the DD, SEA, and PEA concepts by 162%, 23.5%, and 5%, respectively.

DOI 10.1109/BIOROB60516.2024.10719797