title: An efficient robotic tendon for gait assistance.
abstract: A robotic tendon is a spring based, linear actuator in which the stiffness of the spring is crucial for its successful use in a lightweight, energy efficient, powered ankle orthosis. Like its human analog, the robotic tendon uses its inherent elastic nature to reduce both peak power and energy requirements for its motor. In the ideal example, peak power required of the motor for ankle gait is reduced from 250 W to just 77 W. In addition, ideal energy requirements are reduced from nearly 36 J to just 21 J. Using this approach, an initial prototype has provided 100% of the power and energy necessary for ankle gait in a compact 0.95 kg package, seven times less than an equivalent motor/gearbox system.
authors.affiliation: Departments of Mechanical and Aerospace Engineering, and Industrial Design, Arizona State University, Tempe, AZ 85287-6106, USA. kevin.hollander@asu.edu
authors.forename: Kevin W
authors.initials: KW
authors.lastname: Hollander
authors.forename: Robert
authors.initials: R
authors.lastname: Ilg
authors.forename: Thomas G
authors.initials: TG
authors.lastname: Sugar
authors.forename: Donald
authors.initials: D
authors.lastname: Herring
mesh_terms: D000125:Achilles Tendon / Q000502:physiology*; D000843:Ankle Joint / Q000502:physiology*; D032701:Biomimetics / Q000379:methods; D003198:Computer Simulation; D004548:Elasticity; D019544:Equipment Failure Analysis; D005684:Gait / Q000502:physiology*; D006801:Humans; D008954:Models, Biological; D009068:Movement / Q000502:physiology*; D009989:Orthotic Devices; D011474:Prosthesis Design; D012371:Robotics / Q000379:methods*; D013314:Stress, Mechanical; D013813:Therapy, Computer-Assisted / Q000379:methods