The application of series elastic actuators in the hydraulic ankle-foot orthosis

Jeong Yong Kim, William Durfee

Research output: Contribution to conferencePaper

Abstract

Advances in ankle-foot orthosis (AFO) technology have been trending toward more powerful and lightweight devices. A hydraulic series elastic actuator (HSEA) was explored to design a lightweight powered AFO that meets the high peak power demand of ankle gait. With its excellent power density and its ability to separate the power supply from the actuator using a hose, hydraulic power was used, combined with an SEA that takes advantage of the high-peak and low-average power profile of ankle gait to store energy and release it during the push-off stage of gait. The parameters required for the SEA were determined and validated using simulation. A gait pattern that would require 235W of motor power was able to be tracked using a motor rated at 95W. The actuator weight of the hydraulic ankle-foot orthosis (HAFO) at the ankle was 0.35, which is 43% of an equivalent electromechanical system. A novel design of an HSEA with a clutch capability is proposed for future HAFO applications.

Original languageEnglish (US)
DOIs
StatePublished - Jan 1 2018
Event2018 Design of Medical Devices Conference, DMD 2018 - Minneapolis, United States
Duration: Apr 9 2018Apr 12 2018

Other

Other2018 Design of Medical Devices Conference, DMD 2018
CountryUnited States
CityMinneapolis
Period4/9/184/12/18

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Kim, J. Y., & Durfee, W. (2018). The application of series elastic actuators in the hydraulic ankle-foot orthosis. Paper presented at 2018 Design of Medical Devices Conference, DMD 2018, Minneapolis, United States. https://doi.org/10.1115/DMD2018-6822