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Comparison of drivetrain topologies for an ankle gait cycle

Yentl Joos (UGent) , Peter Sergeant (UGent) , Hendrik Vansompel (UGent) and Tom Verstraten
(2023) MACHINES. 11(1).
Author
Organization
Abstract
Powered prosthesis actuation is a field where energy efficiency and mass are important characteristics. The motion requirements of high torque at low speed and low torque at high speed are difficult to effectively combine in a single electric motor. A possibility is to use an oversized direct–drive motor that can deliver the peak torque. However, this results in a heavy actuation system and low overall efficiency. A common practice is combining a smaller electric motor with a gear reduction system. In the literature, novel redundant electric actuation systems have been presented with or without locking mechanisms to mitigate this problem. In this work, we provide a comparison of multiple electrical actuation systems composed of electric motors, gear reduction systems and locking mechanisms. This is done using the gait cycle of a human ankle as a case study. An electric motor with a double stator and a single rotor combined with a gearbox shows the most promising overall results when taking energy loss, total mass and complexity of the system into account.
Keywords
Electrical machines, Drivetrain, Optimization, Ankle gait cycle, High torque-low speed actuation

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Citation

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MLA
Joos, Yentl, et al. “Comparison of Drivetrain Topologies for an Ankle Gait Cycle.” MACHINES, vol. 11, no. 1, 2023, doi:10.3390/machines11010023.
APA
Joos, Y., Sergeant, P., Vansompel, H., & Verstraten, T. (2023). Comparison of drivetrain topologies for an ankle gait cycle. MACHINES, 11(1). https://doi.org/10.3390/machines11010023
Chicago author-date
Joos, Yentl, Peter Sergeant, Hendrik Vansompel, and Tom Verstraten. 2023. “Comparison of Drivetrain Topologies for an Ankle Gait Cycle.” MACHINES 11 (1). https://doi.org/10.3390/machines11010023.
Chicago author-date (all authors)
Joos, Yentl, Peter Sergeant, Hendrik Vansompel, and Tom Verstraten. 2023. “Comparison of Drivetrain Topologies for an Ankle Gait Cycle.” MACHINES 11 (1). doi:10.3390/machines11010023.
Vancouver
1.
Joos Y, Sergeant P, Vansompel H, Verstraten T. Comparison of drivetrain topologies for an ankle gait cycle. MACHINES. 2023;11(1).
IEEE
[1]
Y. Joos, P. Sergeant, H. Vansompel, and T. Verstraten, “Comparison of drivetrain topologies for an ankle gait cycle,” MACHINES, vol. 11, no. 1, 2023.
@article{01GNCEBHFQQFRVH3KJ0HBS49JA,
  abstract     = {{Powered prosthesis actuation is a field where energy efficiency and mass are important characteristics. The motion requirements of high torque at low speed and low torque at high speed are difficult to effectively combine in a single electric motor. A possibility is to use an oversized direct–drive motor that can deliver the peak torque. However, this results in a heavy actuation system and low overall efficiency. A common practice is combining a smaller electric motor with a gear reduction system. In the literature, novel redundant electric actuation systems have been presented with or without locking mechanisms to mitigate this problem. In this work, we provide a comparison of multiple electrical actuation systems composed of electric motors, gear reduction systems and locking mechanisms. This is done using the gait cycle of a human ankle as a case study. An electric motor with a double stator and a single rotor combined with a gearbox shows the most promising overall results when taking energy loss, total mass and complexity of the system into account.}},
  articleno    = {{23}},
  author       = {{Joos, Yentl and Sergeant, Peter and Vansompel, Hendrik and Verstraten, Tom}},
  issn         = {{2075-1702}},
  journal      = {{MACHINES}},
  keywords     = {{Electrical machines,Drivetrain,Optimization,Ankle gait cycle,High torque-low speed actuation}},
  language     = {{eng}},
  number       = {{1}},
  pages        = {{29}},
  title        = {{Comparison of drivetrain topologies for an ankle gait cycle}},
  url          = {{http://doi.org/10.3390/machines11010023}},
  volume       = {{11}},
  year         = {{2023}},
}
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