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Conception and Evaluation of a Novel Variable Torsion Stiffness for Biomechanical Applications

Schuy, Jochen and Beckerle, Philipp and Wojtusch, Janis and Rinderknecht, Stephan and Stryk, Oskar von (2012):
Conception and Evaluation of a Novel Variable Torsion Stiffness for Biomechanical Applications.
In: 4th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob2012), Roma, Italy, June 24-27, 2012, [Conference or Workshop Item]

Abstract

Abstract—This paper proposes a novel variable torsion stiffness (VTS) aiming on biomechanical applications like prosthetic knee joints. By varying the effective length of a torsional elastic element via a relocatable counter bearing, the stiffness of a rotational joint is adjusted. This functional concept is described in detail by the authors as well as the design of such VTS joints. Additionally, analytical models for the transfer behaviour of drivetrain and stiffness control are derived. These are used for a simulative evaluation of a pendulum driven by a VTS unit. Based on the results of this simulation, the power requirements of VTS are analysed. Furthermore, an analysis of its structural strength is presented. For practical comprehensibility, the example of the design of a prosthetic knee joint is taken up for several times in this paper. Finally, the concept, modeling and design of VTS as well as the simulation results are concluded and discussed in a final assessment and in comparison to other contemporary concepts.

Item Type: Conference or Workshop Item
Erschienen: 2012
Creators: Schuy, Jochen and Beckerle, Philipp and Wojtusch, Janis and Rinderknecht, Stephan and Stryk, Oskar von
Title: Conception and Evaluation of a Novel Variable Torsion Stiffness for Biomechanical Applications
Language: English
Abstract:

Abstract—This paper proposes a novel variable torsion stiffness (VTS) aiming on biomechanical applications like prosthetic knee joints. By varying the effective length of a torsional elastic element via a relocatable counter bearing, the stiffness of a rotational joint is adjusted. This functional concept is described in detail by the authors as well as the design of such VTS joints. Additionally, analytical models for the transfer behaviour of drivetrain and stiffness control are derived. These are used for a simulative evaluation of a pendulum driven by a VTS unit. Based on the results of this simulation, the power requirements of VTS are analysed. Furthermore, an analysis of its structural strength is presented. For practical comprehensibility, the example of the design of a prosthetic knee joint is taken up for several times in this paper. Finally, the concept, modeling and design of VTS as well as the simulation results are concluded and discussed in a final assessment and in comparison to other contemporary concepts.

Divisions: 16 Department of Mechanical Engineering
16 Department of Mechanical Engineering > Institute for Mechatronic Systems in Mechanical Engineering (IMS)
20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Interdisziplinäre Forschungsprojekte
Interdisziplinäre Forschungsprojekte > Forschungsprojekte Prothetik
Event Title: 4th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob2012)
Event Location: Roma, Italy
Event Dates: June 24-27, 2012
Date Deposited: 20 Jun 2016 23:26
Identification Number: 2012:IEEE-BioRob_VTS
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