NON-BACKDRIVABLE SERIES ELASTIC ACTUATOR FOR USE IN A PROSTHETIC ELBOW

Abstract

Commercially available prosthetic elbows have stiff actuators (motors) that are only capable of motion (position or velocity) control. In an attempt to mimic human physiology while accommodating prosthetic demands, a non-backdrivable motor has been created that is less stiff and capable of impedance control. Impedance control responds well to different environments and the presence of perturbations. Results have shown that this motor, though non-backdrivable to ensure sufficient battery supply, is still capable of exerting sufficient torque, speed, and frequency bandwidth to be useful in prosthetics. In the future, patients will be fit with this type of motor to examine if they objectively and subjectively perform better using this more physiologically appropriate prosthesis.