Artificial Knee Joints Actuators with Energy Recovery Capabilities: A Comparison of Performance

<div>Fluxes of power in the F-IVT under forward, reverse, and irreversible motion conditions. The arrows indicate the power flows direction in each of them (<svg height="11.8174pt" id="M2" style="vertical-align:-3.1815pt" version="1.1" viewbox="-0.0498162 -8.6359 16.3672 11.8174" width="16.3672pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M600 480C600 590 528 650 384 650H143L137 622C222 614 225 607 210 531L130 127C113 41 106 36 23 28L17 0H294L300 28C204 36 195 42 212 127L243 284L314 263C327 263 339 263 352 264C465 271 600 337 600 480ZM508 481C508 351 402 304 329 304C289 304 265 311 250 317L295 559C302 594 310 606 323 611C335 616 350 619 367 619C455 619 508 573 508 481Z" id="g113-81"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="617" vert-adv-y="617"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,6.656,3.132)"><path d="M1006 650H829L492 147L357 650H174L166 618C270 609 275 601 247 502L194 315C158 189 136 127 122 96C104 56 80 37 18 32L12 0H256L263 32C181 40 176 51 183 98C188 132 197 179 226 281L299 541H301L433 6H458L809 551H811L753 141C739 41 734 39 650 32L642 0H917L923 32C836 39 827 41 839 142L887 535C896 610 901 612 997 618L1006 650Z" id="g50-78"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="1030" vert-adv-y="1030"></glyph.data></g></svg> motor power, <svg height="11.8174pt" id="M3" style="vertical-align:-3.1815pt" version="1.1" viewbox="-0.0498162 -8.6359 12.8962 11.8174" width="12.8962pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M600 480C600 590 528 650 384 650H143L137 622C222 614 225 607 210 531L130 127C113 41 106 36 23 28L17 0H294L300 28C204 36 195 42 212 127L243 284L314 263C327 263 339 263 352 264C465 271 600 337 600 480ZM508 481C508 351 402 304 329 304C289 304 265 311 250 317L295 559C302 594 310 606 323 611C335 616 350 619 367 619C455 619 508 573 508 481Z" id="g113-81"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="617" vert-adv-y="617"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,6.656,3.132)"><path d="M606 650H137L129 618C217 609 221 609 203 518L129 129C115 46 106 40 26 32L18 0H300L307 32C210 40 203 45 218 129L249 305H358C454 305 455 296 457 219H491L531 425H497C465 353 463 350 366 350H259L300 569C306 605 310 611 346 611H444C522 611 535 598 541 578C550 557 553 519 552 485L588 489L606 650Z" id="g50-71"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="630" vert-adv-y="630"></glyph.data></g></svg> rate of change of the kinetic energy of the flywheel, <svg height="11.8174pt" id="M4" style="vertical-align:-3.1815pt" version="1.1" viewbox="-0.0498162 -8.6359 12.403 11.8174" width="12.403pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M600 480C600 590 528 650 384 650H143L137 622C222 614 225 607 210 531L130 127C113 41 106 36 23 28L17 0H294L300 28C204 36 195 42 212 127L243 284L314 263C327 263 339 263 352 264C465 271 600 337 600 480ZM508 481C508 351 402 304 329 304C289 304 265 311 250 317L295 559C302 594 310 606 323 611C335 616 350 619 367 619C455 619 508 573 508 481Z" id="g113-81"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="617" vert-adv-y="617"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,6.656,3.132)"><path d="M567 167L534 181C505 122 482 94 454 70C428 46 385 42 330 42C288 42 248 44 235 55C216 70 213 91 220 130L295 528C310 609 314 611 401 618L409 650H140L131 618C222 611 224 609 209 528L133 126C118 47 108 41 25 33L18 0H497C514 33 554 126 567 167Z" id="g50-77"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="579" vert-adv-y="579"></glyph.data></g></svg> power losses in the transmission devices, and <svg height="11.8174pt" id="M5" style="vertical-align:-3.1815pt" version="1.1" viewbox="-0.0498162 -8.6359 14.2389 11.8174" width="14.2389pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M600 480C600 590 528 650 384 650H143L137 622C222 614 225 607 210 531L130 127C113 41 106 36 23 28L17 0H294L300 28C204 36 195 42 212 127L243 284L314 263C327 263 339 263 352 264C465 271 600 337 600 480ZM508 481C508 351 402 304 329 304C289 304 265 311 250 317L295 559C302 594 310 606 323 611C335 616 350 619 367 619C455 619 508 573 508 481Z" id="g113-81"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="617" vert-adv-y="617"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,6.656,3.132)"><path d="M771 650H519L511 619L537 615C578 610 579 600 539 564C444 476 379 428 336 396C312 378 281 357 252 347L283 514C300 605 304 610 388 619L395 650H134L127 619C212 610 216 605 199 514L130 140C112 41 103 38 28 31L18 0H281L288 31C201 40 198 41 216 140L246 311C274 328 289 324 315 284C393 167 458 86 528 0H686L695 31C635 37 612 45 570 97C521 156 420 285 361 367L596 549C663 601 684 609 764 620L771 650Z" id="g50-76"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="783" vert-adv-y="783"></glyph.data></g></svg> knee power).</div>

Journal of Robotics

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Figure 2

Figure 2: Artificial Knee Joints Actuators with Energy Recovery Capabilities: A Comparison of Performance 