The use of active prostheses for lower limb replacement brings new challenges like power optimization, energy efficiency and autonomy. The use of series and parallel elasticity is often explored to reduce the necessary motor power but this does not necessarily have a positive influence on the energy consumption of the prosthesis. This paper presents the experiments performed with the variable compliance actuator used in an active ankle prosthesis and the electromechanical model of this actuator. The results show that the measurements can be matched using the model, and this model can thus be used to optimize the energy efficiency of the actuator. Simulations show that the electrical efficiency can be increased by 10% compared to parameters selected by an optimization method that only takes mechanical properties into account.

Original languageEnglish
Pages (from-to)147-158
Number of pages12
JournalAutonomous Robots
Issue number1
Publication statusPublished - 8 Jan 2018

    Research areas

  • Actuator, Ankle, CYBERLEGs, Energy efficiency, Human gait, Prosthesis, Series elasticity

ID: 32200133