Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 36, Issue 5, Pages 1442-1451Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2020.2991969
Keywords
Electromagnetic induction; energy regeneration; robotic Prosthesis; self-charging
Categories
Funding
- National Key R&D Program of China [2018YFB1307302]
- National Natural Science Foundation of China [51922015, 91648207, 91948302]
- Beijing Natural Science Foundation [L182001]
- Beijing Municipal Science and Technology Project [Z181100009218007]
Ask authors/readers for more resources
Wearable robotic devices often need electrical energy. An interesting idea is to collect mechanical energy during walking and convert it into electrical energy to recharge these devices directly. In this article, we built a light-weight robotic prosthesis (1.3 kg) with the feature of self-charging. During stance phase, the prosthetic ankle joint with damping, is driven by human dynamics. The rotated ankle joint backdrives themotor, and themotor works as a generator according to the electromagnetic induction theory. Five subjects participated in experiments to verify the feasibility and five speeds walking were studied (0.7, 0.9, 1.1, and 1.3 m/s treadmill speeds and one self-selected outdoor walking speed). Experimental results demonstrate that the electrical regenerative energy per step is 1.53 +/- 0.29 J on average. Meanwhile, an average consumed energy per step of the robotic prosthesis is 4.64 +/- 0.15 J, which means 33 +/- 5% energy can be returned to the active prosthesis (battery, 24 V, 2.6 Ah).
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available