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The actuation system, located on the hip joint, is integrated with the energy storage and the series elastic actuator. Since the spiral spring is selected as the core for the energy storage unit, the
The standard method used to calculate the ankle joint power contains deficiencies when applied to dynamic elastic response prosthetic feet. The standard model, using rotational power and inverse dynamics, assumes a fixed joint center and cannot account for energy storage, dissipation, and return. Th
This poses a challenge to elastic energy storage systems, which require some method to resist the joint torque and allow stretching of the elastic structure. Inertia and gravitational loads can serve this purpose, delaying and slowing motion while the elastic element stretches ( Galantis and Woledge, 2003 ; Roberts and Marsh, 2003 ).
Dynamic compliance of energy-saving legged elastic parallel joints for quadruped robots: design and realization Yaguang ZHU ( )a,b, Minghuan ZHANGa, Xiaoyu ZHANGa, Haipeng QINaa Key Laboratory of Road Construction Technology and Equipment of Ministry of Education, School of Engineering Machinery, Chang''an
Previous studies have shown a temporal decoupling of muscle contraction from joint movement as evidence of elastic energy storage at the ankle joint (Roberts and Marsh, 2003; Azizi and Roberts, 2010; Astley and Roberts, 2012).
The subsequent period of initial joint movement and high joint angular acceleration occurred with minimal muscle fascicle length change, consistent with the recoil of the elastic tendon. These data support the plantaris longus tendon as a site of elastic energy storage during frog jumping, and demonstrate that catapult mechanisms may be
The tendons and joints that facilitate storage of elastic strain energy in the distal forelimb also experienced the highest loads, which may explain the high frequency of injuries observed at these sites. SUMMARY Storage and utilization of strain energy in the elastic tissues of the distal forelimb of the horse is thought to contribute to the excellent
In this paper, we present the first direct evidence that the intrinsic foot muscles also contribute to elastic energy storage and return within the human foot. Isometric contrac-tion of the flexor digitorum brevis muscle tissue facilitates tendon stretch and recoil during controlled loading of the foot.
Although erratic, high-powered jumps undoubtedly remain key to survival for small hoppers such as kangaroo rats (Moore et al., 2017b; McGowan and Collins, 2018), recent material properties research has raised questions regarding the interpretation of previous data underlying the rationale for why kangaroo rats cannot significantly store and
Three properties determine the ability of these springs to act as elastic energy stores: their stiffness, which determines the magnitude of the energy that can be
In this research, we designed a locust-inspired energy storage joint for variable jumping trajectory control. First, the action sequence of the hind leg flexor muscle and extensor muscle during the locust jump was analyzed, namely initial flexion, co-contraction, and trigger activity. Next, motor 1 and a wire were used to imitate the flexor
The mechanical elastic energy storage is a new physical energy storage technology, and its energy storage form is elastic potential energy. Compared with other physical energy
The catapult-like mechanism that has been hypothesized for frog jumping requires pre-storage of elastic energy, followed by the rapid release of this energy during the jump. The pattern of muscle length change and joint motion observed in the plantaris confirms this hypothesis.
This relationship is derived from a model which predicts that shorter ankle moment arms place larger loads on the Achilles tendon, which should result in a greater amount of elastic energy storage and return. However, previous research has not empirically tested this assumed relationship. We test this hypothesis using an inverse
Elastic strain energy (ESE), arising from either work done by muscle fibers or the energy of the body, can be stored in these series elastic elements (SEEs). MTUs vary considerably in their design in terms of the relative lengths and stiffnesses of the muscle fibers and SEEs, and the force and work generating capacities of the muscle fibers.
For statistical comparisons of spring-like behavior (SNW), joint stress, strain, and elastic energy storage, a static measure of AT moment arm length was used following Scholz et al. 9.
high amounts of elastic energy storage that can be returned later in the movement at an explosive indicating the ability to store elastic energy at this joint 32,33. However, evidence for
DOI: 10.1242/jeb.00182 Corpus ID: 40503319 Mechanics of cuticular elastic energy storage in leg joints lacking extensor muscles in arachnids @article{Sensenig2003MechanicsOC, title={Mechanics of cuticular elastic energy storage in leg joints lacking extensor
2013. TLDR. A functional difference is found between the gibbon Achilles and patellar tendon, with the Achilles tendon being more suitable for elastic energy storage and release and the patellAR tendon having a relatively high hysteresis, making it less suitable to act as elastic spring. Expand.
Elastic energy storage using spiral spring can realize the balance between energy supply and demand in some applications. Continuous input–spontaneous output working style can provide simple energy sources for short-time energy supply, and provide strong moment impact and rapid start, or realize the energy conservation for
Achieving dynamic compliance for energy-efficient legged robot motion is a longstanding challenge. Although recent predictive control methods based on single-rigid-body models can generate dynamic motion, they all assume infinite energy, making them unsuitable for prolonged robot operation. Addressing this issue necessitates a
Abstract. The mechanics of the modern human foot and its specialization for habitual bipedalism are well understood. The windlass mechanism gives it the required stability for propulsion generation, and flattening of the arch and stretching of the plantar aponeurosis leads to energy saving. What is less well understood is how an essentially
Furthermore, we demonstrate that providing full control authority over the energy transfer timing and link decoupling allows the user to synchronously release both elastic joint
Elastic energy is stored in the tendon through reversible stretching of collagen molecules (3). Consequently, the muscle– tendon unit produces energy that is transferred to the joint.
The increasing use of Variable Stiffness Actuators (VSAs) in robotic joints is helping robots to meet the demands of human-robot interaction, requiring high safety and adaptability. The key feature of a VSA is the ability to exploit internal elastic elements to obtain a variable output stiffness. These allow the joints to store mechanical energy supplied through
Humans may benefit from joint compliance in order to maximize the elastic energy storage and release at the PHF. By representing the biological actuation system (muscle-tendon-complex) with the SEAs, the compliance and the motor contributions in generating the required movement can be analyzed.
Elastic energy storage in muscle and tendon is important in at least three contexts (i) metabolic energy savings derived from reduced muscle work, (ii) amplification
DOI: 10.1016/J.MECHMACHTHEORY.2008.08.010 Corpus ID: 109834131 The use of compliant joints and elastic energy storage in bio-inspired legged robots @article{Scarfogliero2009TheUO, title={The use of compliant joints and elastic energy storage in bio
negative work during arm-cocking is stored and returned elastically23, this energy can account for 54±15% of the internal humeral rotation work done during a typical throw. Elastic energy storage at the shoulder also augments the generation of joint velocity and
Mechanics of cuticular elastic energy storage in leg joints lacking extensor muscles in arachnids March 2003 Journal of Experimental Biology 206(Pt 4):771-84 DOI:10.1242/jeb.00182 Source PubMed
Based on energy storage and transfer in space and time, elastic energy storage using spiral spring can realize the balance between energy supply and demand in many applications, such as energy adjustment of power grid.
The passive energy storage gravity support exoskeleton is suitable for patients with lower limb dysfunction or limited function caused by lower limb joint, muscle tissue damage or bone disease
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