Abstract
Elastic actuators are broadly applied in the design of the powered ankle-foot prosthesis, so it is a significant task to select and optimize a suitable elastic actuator. Dynamic models of seven kinds of elastic actuators are constructed from a two-degrees-of-freedom vibration system in rotation. With input parameters from sound ankle data during walking, motor data, and the three-dimensional model of the proposed prosthesis, two objectives, which are to minimize the peak mechanical power and mean energy consumption power of the motor, respectively, are optimized by changing the parameters of elastic elements. Unidirectional parallel elastic actuator (UPEA) and UPEA with series spring (SE+UPEA) optimize nearly 75% compared to the direct-driver actuator (DDA) in minimizing the characteristic of peak mechanical power. When it comes to reducing mean energy consumption power, UPEA is also the best, and its performance is at least 15% better than those of the other four kinds of elastic actuators with effective optimization. Besides, features of torque and velocity on the driver end are also compared from elastic actuators to sound ankle. The comparison contributes to understanding the optimization mechanism of different elastic elements, and the optimized and compared performances of elastic actuators can be utilized as the selection basis in the design of the powered ankle-foot prosthesis.
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This work was funded by PlaTCOM HIP-2 (AIM/PlaTCOM/HIP2/CCGF/2017/168).
Jingjing Liu received his B.S. degree in mechanical design manufacture and its automation from Tongji University in 2010, followed by an M.S. degree in biomedical engineering from University of Shanghai for Science and Technology. He is currently pursuing a doctoral degree from University of Malaya. His research interets include the design and development of powered ankle-foot prosthesis, and the biomechanics analysis from prosthesis to human body.
Noor Azuan Abu Osman graduated from University of Bradford, United Kingdom with his B.Eng. Hons. in mechanical engineering, followed by his M.Sc. and Ph.D. degrees in bioengineering from University of Strathclyde, United Kingdom. Practicing Engineer and Professor of Biomechanics with Faculty of Engineering, University of Malaya, Malaysia. His research interests are quite wide-ranging under the general umbrella of biomechanics. However, his main interests are the measurements of human movement, prosthetics design, the development of instrumentation for forces and joint motion, and the design of prosthetics, orthotics and orthopaedic. Prior to joining University of Malaya, Malaysia in 1996, he worked as Mechanical and Electrical Engineer and actively involved in many consultancy projects, especially in the field of biomechanics and bio-mechanical engineering.
Mouaz Al Kouzbary received his B.Sc. degree in mechatronics engineering from the University of Aleppo, Syria, and his M.Eng.Sc. degree in biomedical engineering from the University of Malaya, Malaysia. He is currently a Ph.D. candidate and research assistance at the Centre for Applied Biomechanics (CAB), Department of Biomedical Engineering, Faculty of Engineering, University of Malaya. His research interests include Artificial Intelligent control systems, machine learning algorithms, genetic algorithm, robotics, biomechanics, powered lower limb prostheses, and bio-inspired leg designs.
Hamza AL Kouzbary received his B.Sc. degree in mechatronics engineering from the University of Aleppo, Syria in 2017. In 2018 he joined the department of biomedical engineering at the University of Malaya as a Master of Engineering Science (research program) student and research assistance. His research interests include rehabilitation robots, bipedal robots, Artificial intelligent and control systems.
Nasrul Anur Abd Razak received his B.Eng. degree in mechatronics from International Islamic University Malaysia, Selangor, Malaysia in 2009 followed by his M.Eng. and Ph.D. degrees from Department of Biomedical Engineering, University Malaya, Kuala Lumpur, Malaysia in (2011) and (2014). Since (2015), he has been a Senior Lecturer at Department of Department of Biomedical Engineering, Faculty of Engineering, University Malaya, Kuala Lumpur, Malaysia. His research interests include biomechanical engineering (manufacturing in prosthetics, bio sculptor CAD/CAM system), prosthetics and orthotics engineering, and rehabilitation engineering (upper limb prosthetic, assistive devices & technology in prosthetic and orthotics, biomechatronic in prosthetic and orthotics).
Hanie Nadia Shasmin received her B.Eng. degree in biomedical engineering from the University of Malaya, Kuala Lumpur, Malaysia, in 2006. She has been a Research Officer with the University of Malaya, since 2012, where she is currently affiliated with the Centre for Applied Biomechanics, Faculty of Engineering. Her research interests include biomechanics, motion analysis, gait and rehabilitation.
Nooranida Arifin is a senior lecturer at the University of Malaya. She received her B.Sc. and Ph.D. degrees in biomedical engineering from the University of Malaya and her M.Sc. degree in prosthetics and orthotics from Eastern Michigan University, Michigan, USA. Her current research interests cover prosthetics and orthotics biomechanics, in particular, focusing on the balance mechanism with prosthetics intervention following lower-limb amputation. She is an active member of the International Society for Prosthetics Orthotics, Malaysia.
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Liu, J., Osman, N.A.A., Kouzbary, M.A. et al. Optimization and Comparison of Typical Elastic Actuators in Powered Ankle-foot Prosthesis. Int. J. Control Autom. Syst. 20, 232–242 (2022). https://doi.org/10.1007/s12555-020-0980-x
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DOI: https://doi.org/10.1007/s12555-020-0980-x