Artificial joints using agonist-antagonist actuators

Abstract

Artificial limbs and joints which behave like a biological limbs and joints employ a synthetic actuator which consume negligible power when exerting zero force, consume negligible power when outputting force at constant length (isometric) and while performing dissipative, nonconservative work, are capable of independently engaging flexion and extension tendon-like, series springs, are capable of independently varying joint position and stiffness, and exploit series elasticity for mechanical power amplification.

Description

CROSS REFERENCE TO RELATED APPLICATIONS [0001] This application is a non-provisional of U.S. patent application Ser. No. 60 / 751,680 filed on Dec. 19, 2005. [0002] This application is a continuation in part of U.S. patent application Ser. No. 11 / 395,448 entitled “Artificial human limbs and joints employing actuators, springs, and Variable-Damper Elements” filed on Mar. 31, 2006 by Hugh M. Herr, Daniel Joseph Paluska, and Peter Dilworth. application Ser. No. 11 / 395,448 claims the benefit of the filing date of U.S. Provisional patent application Ser. No. 60 / 666,876 filed on Mar. 31, 2005 and the benefit of the filing date of U.S. Provisional patent application Ser. No. 60 / 704,517 filed on Aug. 1, 2005. [0003] This application is also a continuation in part of U.S. patent application Ser. No. 11 / 499,853 entitled “Biomimetic motion and balance controllers for use in prosthetics, orthotics and robotics” filed on Aug. 4, 2006 by Hugh M. Herr, Andreas G. Hofmann, and Marko B. Popovic. appli...

AI Technical Summary

Benefits of technology

[0039] extension: A bending movement around a joint in a limb that increases the angle between the bones of the limb at the joint;

[0040] flexion: A bending movement around a joint in a limb that decreases the angle between the bones of the limb at the joint;

Problems solved by technology

None of these systems are able to add energy during the stride to help keep the body moving forward or to reduce impact losses at heel strike.

However, for most applications, the SEA requires a tremendous amount of electric power for its operation, resulting in a limited operational life or an overly large power supply.

Robotic joint designs in general use purely active components and often do not conserve electrical power through the use of variable-stiffness and variable-damping devices.

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