Ontology highlight
ABSTRACT:
SUBMITTER: Elery T
PROVIDER: S-EPMC7720653 | biostudies-literature | 2020 Dec
REPOSITORIES: biostudies-literature
Elery Toby T Rezazadeh Siavash S Nesler Christopher C Gregg Robert D RD
IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society 20200713 6
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 d ...[more]