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

Figure 7

Motor electric energy requirement of the actuators compared (F-IVT, SEA, and C-SEA) in level ground walking at different speeds (a, c) and in stairs climbing at different inclinations (b, d), under the assumptions of regenerative braking admitted (a, b) and not admitted (c, d).

(a)

(b)

(c)

(d)