User menu

Accès à distance ? S'identifier sur le proxy UCLouvain

Variable Stiffness Actuator Based on Infinitely Variable Transmission: Application to an Active Ankle Prosthesis

Primary tabs

download
  • Open access
  • PDF
  • 1.04 M
Everarts, Christophe [UCL] Dehez, Bruno [UCL] Ronsse, Renaud [UCL]

Series elastic actuators are very popular in rehabilitation robotics. Among other advantages, elastic elements between the actuator and the load permit to store and release energy during the task completion. To comply with different gaits and cadences, it is necessary to modify the stiffness and thus to design Variable Stiffness Actuators (VSA). This contribution proposes to apply a particular concept of VSA to an active ankle prosthesis. We establish that a promising approach is simply to control the amount of energy stored in the elastic element. This contribution surveys a paper recently accepted to the IROS conference 2012

Document type Communication à un colloque (Conference Paper) – Poster
Access type Accès libre
Publication date 2012
Language Anglais
Conference "5th International Workshop on Human-Friendly Robotics", Brussels, Belgium (du 18/10/2012 au 19/10/2012)
Affiliation UCL - SST/IMMC/MEED - Mechatronic, Electrical Energy, and Dynamics Systems
Links
Bibliographic reference Everarts, Christophe ; Dehez, Bruno ; Ronsse, Renaud. Variable Stiffness Actuator Based on Infinitely Variable Transmission: Application to an Active Ankle Prosthesis.5th International Workshop on Human-Friendly Robotics (Brussels, Belgium, du 18/10/2012 au 19/10/2012).
Permanent URL http://hdl.handle.net/2078.1/119771