期刊
JOURNAL OF MEDICAL DEVICES-TRANSACTIONS OF THE ASME
卷 4, 期 1, 页码 -出版社
ASME-AMER SOC MECHANICAL ENG
DOI: 10.1115/1.4001139
关键词
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资金
- Center for the Intrepid at the Brooke Army Medical Center
- U.S. Army Medical Research and Material Command's Telemedicine and Advanced Technology Research Center (TATRC)
A unique, robust, robotic transtibial prosthesis with regenerative kinetics was successfully built and a 6-month human subject trial was conducted on one male below-the-knee amputee under linear walking conditions. This paper presents the quasistatic system modeling, DC motor and transmission modeling and analyses, design methodology; and model verification. It also outlines an approach to the design and development of a robotic transtibial prosthesis. The test data will show that the true power and energy requirement predicted in the modeling and analyses is in good agreement with the measured data, verifying that the approach satisfactorily captures the physical system. The modeling and analyses in this paper describes a process to determine an optimal combination of motors, springs, gearboxes, and rotary to linear transmissions to significantly minimize the power and energy consumption. This kinetic minimization, allows the down-sizing of the actuation system and the battery required for daily use to a self-portable level. [DOT: 10.1115/1.4001139]
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