IEEE Trans Robot 2020 Dec 13;36(6):1649-1668. Epub 2020 Jul 13.
T. Elery is with the Departments of Bioengineering and Mechanical Engineering, University of Texas at Dallas, Richardson, TX 75080 USA. S. Rezazadeh is with the Department of Mechanical Engineering, University of Denver, Denver, CO, 80208 USA. C. Nesler and R. D. Gregg are with the Department of Electrical Engineering and Computer Science; Robotics Institute, University of Michigan, Ann Arbor, MI, 48109 USA.
We present the design of a powered knee-ankle prosthetic leg, which implements high-torque actuators with low-reduction transmissions. The transmission coupled with a high-torque and low-speed motor creates an actuator with low mechanical impedance and high backdrivability. This style of actuation presents several possible benefits over modern actuation styles in emerging robotic prosthetic legs, which include free-swinging knee motion, compliance with the ground, negligible unmodeled actuator dynamics, less acoustic noise, and power regeneration. Read More