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Series elasticity and actuator power output

Authors: Daniel Paluska; Hugh M. Herr;

Series elasticity and actuator power output

Abstract

In this investigation we put forth a simple model to quantify the capacity of series elasticity to increase peak power output from an actuator. Using a linear bandwidth limited force source, we show how series spring stiffness and source stroke length effect power output to an inertial load. We show that an appropriate spring constant increases the peak power delivered to the inertial load over a limited stroke. The series elasticity changes the actuator operating point along its force-velocity curve and therefore effects the actuator work output over a fixed stroke length. For single shot motions, the peak power can increase by a factor of radic2 for appropriate series spring stiffness. We also present an example of how this work relates to human ankle function and it implies for the design of robotic or prosthetic ankles

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    influence
    This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
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Powered by OpenAIRE graph
Found an issue? Give us feedback
selected citations
These citations are derived from selected sources.
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
23
Top 10%
Top 10%
Average
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