Clutchable series-elastic actuator: Design of a robotic knee prosthesis for minimum energy consumption

摘要: The cyclic and often linear torque-angle relationship of locomotion presents the opportunity to innovate on design traditional series-elastic actuators (SEAs). In this paper, a novel modification SEA architecture was proposed by adding clutch in parallel with motor within - denoted as CSEA. This addition permits bimodal dynamics where system is characterized an when disengaged passive spring engaged. purpose provide ability store energy tuned series spring, while requiring only reactionary torque from clutch. Thus, engaged, elastic can be achieved minimal electrical consumption. state-based model CSEA introduced implementation mechanism powered knee prosthesis detailed. elasticity optimized fit spring-like early stance phase flexion extension during level ground walking. simulation, required 70% less than SEA. Future work will focus mechanical empirical demonstration reduced consumption