Stiffness adjustment of a Series Elastic Actuator in an ankle-foot prosthesis for walking and running: The trade-off between energy and peak power optimization

摘要: During walking and running, passive foot prostheses can only do positive work by releasing elastic energy stored in compliant structures. This limited ability to generate be improved devices which actively support the push-off. Here, we estimate peak power requirements of a simulated serial actuator (SEA) for running compare it with direct drive setup. The simulations indicate that spring highly reduce energy. Results suggest optimizing SEA stiffness obtain minimal is more general approach as needs similar observed In contrast, optimization results clearly higher requirements. For both gaits, predicted optimal suitable minimizing increases speed. energy, decreases speed remains nearly constant across speeds running. A gaits possible. It should chosen based on optimized solution highest desired speed, where are most critical.