The Application of Series Elastic Actuators in the Hydraulic Ankle-Foot Orthosis | Zendy

Jeong Yong Kim | Zendy; William K. Durfee | Zendy

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The Application of Series Elastic Actuators in the Hydraulic Ankle-Foot Orthosis

Author(s) -

Jeong Yong Kim,

William K. Durfee

Publication year - 2018

Publication title -

2017 design of medical devices conference

Language(s) - English

Resource type - Conference proceedings

DOI - 10.1115/dmd2018-6822

Subject(s) - clutch , ankle , actuator , gait , exoskeleton , electro hydraulic actuator , power (physics) , engineering , computer science , marine engineering , simulation , automotive engineering , physical medicine and rehabilitation , electrical engineering , medicine , physics , pathology , quantum mechanics

Advances in ankle-foot orthosis (AFO) technology have been trending toward more powerful and lightweight devices. A hydraulic series elastic actuator (HSEA) was explored to design a lightweight powered AFO that meets the high peak power demand of ankle gait. With its excellent power density and its ability to separate the power supply from the actuator using a hose, hydraulic power was used, combined with an SEA that takes advantage of the high-peak and low-average power profile of ankle gait to store energy and release it during the push-off stage of gait. The parameters required for the SEA were determined and validated using simulation. A gait pattern that would require 235W of motor power was able to be tracked using a motor rated at 95W. The actuator weight of the hydraulic ankle-foot orthosis (HAFO) at the ankle was 0.35, which is 43% of an equivalent electromechanical system. A novel design of an HSEA with a clutch capability is proposed for future HAFO applications.Copyright © 2018 by ASME

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