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Table 1 Mechanical work provided by the motor (nut output, positive + absolute of negative), the spring (positive) and the overall robotic ankle in J/(kg m)

From: A powered prosthetic ankle joint for walking and running

  Nut Spring Robotic ankle
Trial (m/s) RA Model RA Model RA (tot/pos/neg) Model (tot/pos/neg)
Running 4.0 0.12 0.22 0.17 0.31 0.29/0.2/0.09 0.49/0.35/0.14
Running 2.6 0.21 0.23 0.23 0.25 0.44/0.32/0.12 0.51/0.36/0.15
Walking 1.6 0.14 0.17 0.11 0.15 0.2/0.15/0.05 0.24/0.19/0.05
  1. Model assumptions were made using the stiffness of the spring and the data from [24]. Lower model requirements are possible if the spring stiffness is optimal for each individual gait condition and the individual subject weight