Energy Minimization of New Robotic-Type Above-Knee Prosthesis for Higher Battery Lifetime
Küçük Resim Yok
Tarih
2023
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Mdpi
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
In this paper, an optimization problem for the energy minimization of a new robotic-type three-axes above-knee prosthesis is carried out based on the actuator power consumption. The optimization problem aims to find the optimal link masses with which to minimize the electrical energy drawn from the battery of the new prosthesis, subject to the kinematic and dynamic constraints. Particle swarm optimization (PSO) is used as the optimization algorithm. A discrete-time PID controller is used to represent the saved energy by means of mass optimization. Optimization illustrated that energy consumption in the batteries can be reduced 51% and provides 1.89 h of additional battery lifetime, according to the literature, by optimizing prosthetic link masses while providing acceptable prosthesis stiffness.
Açıklama
Anahtar Kelimeler
Above-Knee Prosthesis, Robotic, Energy Minimization, Particle Swarm Optimization, Discrete-Time Model, Pid Controller, Battery Life, Optimization, Consumption, Reduction, Design, Power
Kaynak
Applied Sciences-Basel
WoS Q Değeri
N/A
Scopus Q Değeri
Q2
Cilt
13
Sayı
6
