TY - GEN
T1 - Effects of Modulation Coefficient Adjustment on Energy Regeneration of Damping Torque Controlled Transtibial Prosthesis
AU - Zhu, Wenduo
AU - Mai, Jingeng
AU - Wang, Qining
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Energy regeneration is an important method to extend the operation duration of active robotic devices or reduce the battery weight. One efficient method is to generate energy by the motor in the joint based on electromagnetic induction principle. In this paper, we further discuss such energy regeneration method for damping torque controlled robotic transtibial prosthesis. For this method, a parameter called modulation coefficient is very important. We analyze the effects of modulation coefficient on energy regeneration by circuit principle and walking experiment. Circuit principle analysis demonstrates that the modulation coefficient P has a clear correlation with regenerative energy and energy regener-Ation efficiency. Experimental results give a specific relationship between modulation coefficient and energy regeneration. At a fixed walking speed, the regenerative energy per step is positively correlated with P from 0.4 to 0.8 and negative correlated with P from 0.8 to 1, in the range of OJ to 1.47 J. Energy regeneration efficiency per step is negative correlated with P from 0.4 to 1, in the range of 0% to 94.39%. The analysis may be useful for more efficient and effective energy regeneration in robotic devices in the future.
AB - Energy regeneration is an important method to extend the operation duration of active robotic devices or reduce the battery weight. One efficient method is to generate energy by the motor in the joint based on electromagnetic induction principle. In this paper, we further discuss such energy regeneration method for damping torque controlled robotic transtibial prosthesis. For this method, a parameter called modulation coefficient is very important. We analyze the effects of modulation coefficient on energy regeneration by circuit principle and walking experiment. Circuit principle analysis demonstrates that the modulation coefficient P has a clear correlation with regenerative energy and energy regener-Ation efficiency. Experimental results give a specific relationship between modulation coefficient and energy regeneration. At a fixed walking speed, the regenerative energy per step is positively correlated with P from 0.4 to 0.8 and negative correlated with P from 0.8 to 1, in the range of OJ to 1.47 J. Energy regeneration efficiency per step is negative correlated with P from 0.4 to 1, in the range of 0% to 94.39%. The analysis may be useful for more efficient and effective energy regeneration in robotic devices in the future.
UR - https://www.scopus.com/pages/publications/85141867777
U2 - 10.1109/BioRob52689.2022.9925336
DO - 10.1109/BioRob52689.2022.9925336
M3 - 会议稿件
AN - SCOPUS:85141867777
T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
BT - BioRob 2022 - 9th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics
PB - IEEE Computer Society
T2 - 9th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2022
Y2 - 21 August 2022 through 24 August 2022
ER -