Gait Ankle » History » Version 7
Sæþór Ólafur Pétursson, 2012-01-23 17:08
Put in the results of the calculations. For the ankle
| 1 | 1 | Kristján Oddsson | h1. Gait Ankle |
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| 2 | |||
| 3 | h2. Notes from Kristján. |
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| 4 | |||
| 5 | h3. Phases from the prespective of the ankle |
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| 6 | |||
| 7 | * Initial contact |
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| 8 | ** Neutral (90°), slight dorsiflexion. Preparing for response. |
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| 9 | * Loading response |
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| 10 | ** Plantar flexion (10°). Function: Shock response. |
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| 11 | * Mid stance |
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| 12 | ** Dorsiflexion (from 8° plantarflex to 5° dorsiflex). Function: Allow forward progression of tibia. |
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| 13 | * Terminal stance |
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| 14 | ** Heel rise (doriflexion up to 10°) |
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| 15 | * Pre-swing |
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| 16 | ** Plantar-flexion (20°). Function: Initiate knee flexion for swing. |
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| 17 | * <Missing> (I actually missed what the guy said here, if anyone has it please edit the file and add it.) |
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| 18 | ** Slight dorsiflexion in the ankle to prepare hitting the ground again. |
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| 19 | 2 | Bjarni Kristjánsson | |
| 20 | h1. Ankle design ideas |
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| 21 | |||
| 22 | * Flexible sole |
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| 23 | * Hinge joint motorized |
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| 24 | ** Possible second axis of swivel |
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| 25 | * Springs or elastic for "natural" shock absorption |
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| 26 | 6 | Bjarni Kristjánsson | * Motor for natural push off |
| 27 | 3 | Kristján Oddsson | * Possibilities for more gait types than heel to toe roll |
| 28 | 4 | Kristján Oddsson | |
| 29 | 5 | Kristján Oddsson | h1. Image sketch |
| 30 | |||
| 31 | 4 | Kristján Oddsson | !ankle.jpg! |
| 32 | 7 | Sæþór Ólafur Pétursson | |
| 33 | |||
| 34 | Calculations results. |
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| 35 | The ankle at 10° with a 120 kg load gets a 294.3 Nm. |
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| 36 | So the ankle needs to handle that kinda tourqe |