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[168] Citation: G.K. Klute, Czerniecki, J., B. Hannaford,
'Muscle-Like Pneumatic Actuators for Below-Knee Prostheses,,'
Proceedings, Actuator 2000: 7th International Conference on New Actuators, pp. 289-292, Bremen, Germany, June 19-21,2000.
Abstract
This paper reports on the design of a biorobotic actuator intended for use in
a powered, below-knee prosthesis. Design requirements for the artificial muscle
and tendon are based on the properties of the natural limb. As biological
properties often exhibit significant variability, data from a variety of
vertebrate species are extracted from published reports in the biological
literature and used to specify model parameters of both muscle and tendon. To
achieve the required relationships between force, length, velocity, and
activation, an artificial myo-tendinous actuator is proposed whose components
include a flexible, pneumatic actuator, a hydraulic damper, and die compression
springs. To verify performance, a series of tests were conducted that enveloped
the conditions expected from a muscle-tendon unit used as an actuator for a
below-knee prosthesis. The experimental results show the force-length-velocity
properties of the artificial myo-tendinous actuator to be similar to its
biological counterpart.
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Updated: Tue Aug 19 09:16:09 2008
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