The effect of series elasticity on actuator power and work output: Implications for robotic and prosthetic joint design

Robotics and Autonomous Systems

Volumn 54, Issue 8, 2006, Pages 667-673

  Paluska, Daniel ^a   Herr, Hugh ^b  

^a Massachusetts Institute of Technology Cambridge   (United States)

^b MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

Actuation; Catapult; Power amplification; Series elasticity; Work amplification

Indexed keywords

ACTUATORS; BIOMECHANICS; CURVE FITTING; ELASTICITY; ENERGY STORAGE; OPTIMIZATION; POWER AMPLIFIERS; PROSTHETICS;

ACTUATION; CATAPULT; POWER AMPLIFICATION; SERIES ELASTICITY; WORK AMPLIFICATION;

ROBOTIC ASSEMBLY;

EID: 33746473008     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2006.02.013     Document Type: Article

References (19)

1. Kubo K., Kawakami Y., and Fukunaga T. Influence of elastic properties of tendon structures on jump performance in humans. Journal of Applied Physiology 87 6 (1999) 2090-2096. http://jap.physiology.org/cgi/content/abstract/87/6/2090 Available
2. Ettema G. Mechanical efficiency and efficiency of storage and release of series elastic energy in skeletal muscle during stretch-shorten cycles. Journal of Experimental Biology 199 9 (1996) 1983-1997. http://jeb.biologists.org/cgi/content/abstract/199/9/1983 Available
3. Wilson A., Watson J., and Lichtwark G. A catapult action for rapid limb protraction. Nature 421 (2003) 35-36
4. Roberts T.J. The integrated function of muscle and tendons during locomotion. Comparative Biology and Physiology 133 4 (2002) 1087-1099
5. Roberts T.J., and Marsh R.L. Probing the limits to muscle-powered accelerations: lessons from jumping bullfrogs. Journal of Experimental Biology 206 15 (2003) 2567-2580. http://jeb.biologists.org/cgi/content/abstract/206/15/2567 Available
6. Roberts T.J., Marsh R.L., Weyand P.G., and Taylor C.R. Muscular force in running turkeys: The economy of minimizing work. Science 275 5303 (1997) 1113-1115. http://www.sciencemag.org/cgi/content/abstract/275/5303/1113 Available
7. Hof A., Geelen B., and Van Den Berg J. Calf muscle moment, work and efficiency in level walking; role of series elasticity. Journal of Biomechanics 16 (1983) 523-535
8. Alexander R.M. Elastic Mechanisms in Animal Movement (1988), Cambridge University Press
9. J.E. Pratt, Virtual model control of a biped walking robot, Master's Thesis, Massachusetts Institute of Technology, August 1995
10. G. Pratt, M. Williamson, P. Dillworth, J. Pratt, K. Ulland, A. Wright, Stiffness isn't everything, in: Proceedings of the Fourth International Symposium on Experimental Robotics, ISER'95, 30 June-2 July 1995, Stanford, California
11. R. Howard, Joint and actuator design for enhanced stability in robotic force control, Ph.D. Dissertation, MIT, 1990
12. Hogan N., and Buerger S. In: Kurfess T. (Ed). Robotics and Automation Handbook. Impedance and Interaction Control, Ser. vol. 1 (2005), CRC Press, New York
13. D. Robinson, Design and analysis of series elasticity in closed loop actuator force control, Ph.D. Dissertation, MIT, Department of Mechanical Engineering, 2000
14. J.E. Pratt, Biped robot walking control, Ph.D. Dissertation, MIT, 2000
15. Zinn M., Roth B., Khatib O., and Salisbury J. A new actuation approach for human friendly robot design. International Journal of Robotics Research 23 (2004) 379-398
16. Raibert M.H. Legged Robots That Balance (1986), MIT Press, Cambridge, MA
17. M. Buehler, D.E. Koditschek, Analysis of a simplified hopping robot, in: Proceedings of the IEEE International Conference on Robotics and Automation, ICRA, 1988, pp. 817-819. Available: Buehler88.pdf
18. H.B. Brown, G. Zeglin, The bow leg hopping robot, in: IEEE International Conference on Robotics and Automation, 1998
19. D.W. Robinson, J.E. Pratt, D.J. Paluska, G.A. Pratt, Series elastic actuator development for a biomimetic robot, in: IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 1999