TY - GEN
T1 - Decoupling stiffness from position in joint mechanisms
T2 - ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017
AU - Holgate, Robert
AU - Sugar, Thomas
N1 - Publisher Copyright:
Copyright © 2017 ASME.
PY - 2017
Y1 - 2017
N2 - A method for decoupling joint stiffness and joint position for simple mechanisms was developed. This method was then demonstrated on a powered ankle prosthesis. Linear and circular mechanisms were fit to the resulting data to simplify the required actuator output. The resulting performance of desired ankle moment with corresponding ankle angle was shown to be highly correlated with able bodied walking data.
AB - A method for decoupling joint stiffness and joint position for simple mechanisms was developed. This method was then demonstrated on a powered ankle prosthesis. Linear and circular mechanisms were fit to the resulting data to simplify the required actuator output. The resulting performance of desired ankle moment with corresponding ankle angle was shown to be highly correlated with able bodied walking data.
UR - http://www.scopus.com/inward/record.url?scp=85034857634&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85034857634&partnerID=8YFLogxK
U2 - 10.1115/DETC2017-68113
DO - 10.1115/DETC2017-68113
M3 - Conference contribution
AN - SCOPUS:85034857634
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 41st Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers (ASME)
Y2 - 6 August 2017 through 9 August 2017
ER -