Artificial joints using agonist-antagonist actuators
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United States of America Patent
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Oct 28, 2014
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app pub date -
Oct 29, 2009
filing date -
Mar 31, 2005
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Abstract
Artificial limbs and joints that behave like biological limbs and joints employ a synthetic actuator which consumes negligible power when exerting zero force, consumes negligible power when outputting force at constant length (isometric) and while performing dissipative, nonconservative work, is capable of independently engaging flexion and extension tendon-like, series springs, is capable of independently varying joint position and stiffness, and exploits series elasticity for mechanical power amplification.
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