Property | Value | Units |
---|---|---|
System voltage | 24 | VDC |
Ankle motor | Maxon EC-4Pole 30 | 200W |
Ankle actuator | 130 | N/mm |
Spring constant (k) | ||
Ankle parallel spring constant | 94.20 | N/mm |
Ankle max torque | 130 (@15A) | Nm |
Ankle continuous torque | 30.6 | Nm |
(no parallel spring) | ||
Ankle total gear ratio | 330:1 | |
Knee motor | Maxon EC-i 40 | 50W |
Knee max torque | ∼ 70 | Nm |
Knee continuous torque | ∼ 55 | Nm |
Knee gear (Planetary) ratio | 5.8:1 | |
Knee ball screw lead | 2 | mm/turn |
Knee range of motion | 0 to 95 | deg |
Baseline spring constant (K BL ) | 10.7 | N/mm (each spring) |
Baseline spring mass | 19.7 | g |
Extension spring constant (K EX ) | 89.1 | N/mm (each spring) |
Extension spring mass | 15.6 | g |
Weight acceptance | 300 | N/mm |
Spring constant | ||
Weight acceptance | 90 | g |
Spring weight | ||
Prosthesis overall mass | ∼ 5 | kg |