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Relevant bibliographies by topics / Tendon-spring

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Academic literature on the topic 'Tendon-spring'

Author: Grafiati

Published: 4 June 2025

Last updated: 23 June 2025

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Journal articles on the topic "Tendon-spring"

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Bouysset, M., T. Tavernier, E. Decullier, C. Confavreux, J. G. Tebib, and F. Coury. "Posterior Tibial Tendon and Spring Ligament Lesions in Rheumatoid Arthritis." Médecine et Chirurgie du Pied 35, no. 4 (2019): 65–69. http://dx.doi.org/10.3166/mcp-2020-0039.

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In rheumatoid arthritis, a significant number of patients have hindfoot pain while they are considered in low disease activity. Then the rheumatoid hindfoot may evolve in valgus flat foot with disability. The aim of our study was to observe the lesions of the main stabilizers of the hindfoot in rheumatoid arthritis to improve the followup and the treatment of the disease. Thirty-three feet (from 21 patients) with rheumatoid arthritis and pain of the hindfoot were consecutively observed. The patients have had no biologic treatment. Every foot had Magnetic Resonance Imaging (MRI) of the hindfoot with gadolinium injection. The tendon of the tibialis posterior muscle, the spring ligament and the inter-osseous talocalcaneal ligament were considered. All the feet presented tenosynovitis of the posterior tibial tendon. Structural lesions of the posterior tibial tendon (23/33 feet, 69.7%) were more frequent than lesions of the spring ligament (12/33 feet, 36.4%). There was no inferior spring ligament lesion without superior spring ligament lesion. No interosseous talocalcaneal ligament lesion was observed. In rheumatoid arthritis, the hindfoot, and particularly the posterior tibial tendon, should be evaluated during patient follow-up to detect a possible lesion. Posterior tibial tendon lesion arises at the same time as the spring ligament lesion, before interosseous talocalcaneal ligament lesion. Imaging, especially MRI, may complete clinical examination. If rheumatoid involvement of the posterior tibial tendon is observed, treatment intensification is required.

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Pasapula, Chandra, Nicolas Yanguma, Brayan David Solorzano, Tamas Kobezda, Christian Cifuentes-De la Portilla, and Md Abdul Aziz. "Biomechanical Evaluation of the Flexor Digitorum Longus and Flexor Hallucis Longus Transfer Used for the Treatment of Adult Acquired Flatfoot Deformity: A Finite Element Study." Biomechanics 5, no. 1 (2025): 9. https://doi.org/10.3390/biomechanics5010009.

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Introduction: Management strategies for stage II tibialis posterior tendon dysfunction are centered on tendon transfers and osteotomies. One of the most commonly used tendon transfers is flexor digitorum longus (FDL) tendon to navicular, but its superiority over transfers to other locations or transfers of other tendons, along with the role of spring ligament and tibialis posterior tendons, have not been objectively evaluated. Aims: We aimed to quantify both the location and magnitude of secondary stresses that develop as a consequence of the initial pathology. Methods: In this study, we used a computational model to study flat foot development and evaluate the effects of various tendon transfers and failures of passive structural elements, as well as their effect on the biomechanics of the foot. Results: We found that both FDL and FHL transfers have biomechanical advantages and disadvantages. Neither of these transfers decrease the stress on the tibialis posterior tendon if the underlying pathologies such as spring ligament failure are not addressed. Conclusions: Of the tendon transfers evaluated, FDL transfer to the navicular had the most profound effect on reducing the stresses on the spring ligament.

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MIYASHITA, Kazuhiro, Yoichi MASUDA, Megu GUNJI, Akira FUKUHARA, Kenjiro TADAKUMA, and Masato ISHIKAWA. "Development of Series Spring Tendon Module Imitating Tendon Properties of Horses." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2021 (2021): 2P1—I05. http://dx.doi.org/10.1299/jsmermd.2021.2p1-i05.

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Alexander, R. McN. "Tendon elasticity and positional control." Behavioral and Brain Sciences 18, no. 4 (1995): 745. http://dx.doi.org/10.1017/s0140525x00040711.

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AbstractThe spring-like behaviour of a joint following a sudden change of torque is partly a result of the elastic properties of tendons. A large fall in a muscle with a long tendon may be accompanied by tendon recoil causing joint movements as large as 20°.

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Sy Hung, Nguyen, Phan Doan Anh Tuan, Nguyen Ngoc Phuong, and Nguyen Truong Thinh. "Flower Robot – A Product of Biomimetic Technology." Key Engineering Materials 467-469 (February 2011): 2149–54. http://dx.doi.org/10.4028/www.scientific.net/kem.467-469.2149.

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In this paper, we propose a new prototype model of a robotic flower with active guide tendon wires which has two bending degrees of freedom. The design and fabrication methods of this flower robot are described. We also modeled this robotic flower for characteristic evaluation. Experimental results show that the model of the flower robot is reasonable for practical applications. The flower robot is a multi-degree-of-freedom (DOF) device which was developed using a tendon-driven system. Two DOF motion for the robotic stem was realized by the tendon mechanism combining flexible spring, and 1-DOF motion of flower was created by a servo motor. Each leaf uses a spring and a tendon-driven string. The proposal structure consists of flower, stem and leaves operating like a flower robot. The experimental results indicate that the proposed flower robot with active guide wire is applicable to reality. Furthermore, it is integrated with sensors to perform its functions like a flower.

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Ariyanto, Mochammad, Rifky Ismail, Joga D. Setiawan, and Elga P. Yuandi. "Anthropomorphic transradial myoelectric hand using tendon-spring mechanism." TELKOMNIKA (Telecommunication Computing Electronics and Control) 17, no. 1 (2019): 537. http://dx.doi.org/10.12928/telkomnika.v17i1.11600.

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Williams, Benjamin Roller, Scott Jacob Ellis, and Jonathan Thorndike Deland. "Spring ligament reconstruction in posterior tibial tendon insufficiency." Current Orthopaedic Practice 21, no. 3 (2010): 268–72. http://dx.doi.org/10.1097/bco.0b013e3181d8a181.

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Tang, Yuk-Ming, and Kin-Chuen Hui. "Simulating tendon motion with axial mass–spring system." Computers & Graphics 33, no. 2 (2009): 162–72. http://dx.doi.org/10.1016/j.cag.2009.01.002.

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Robinson, Samuel P., Christopher W. Hodgkins, Peter Sculco, and John G. Kennedy. "Spring Ligament Reconstruction for Posterior Tibial Tendon Insufficiency." Techniques in Foot & Ankle Surgery 5, no. 3 (2006): 198–203. http://dx.doi.org/10.1097/01.btf.0000219307.06253.2e.

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Mochammad, Ariyanto, Ismail Rifky, D. Setiawan Joga, and P. Yuandi Elga. "Anthropomorphic transradial myoelectric hand using tendon-spring mechanism." TELKOMNIKA Telecommunication, Computing, Electronics and Control 17, no. 1 (2019): 537–48. https://doi.org/10.12928/TELKOMNIKA.v17i1.11600.

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In the developing countries, the need for prosthetic hands is increasing. In general, transradial amputee patients use prosthetic hands that are passive like a body-powered prosthesis. This research proposes a low-cost myoelectric prosthetic hand based on 3D printing technology. Hand and finger size were designed based on the average size of human hands in Indonesia. The proposed myoelectric hand employs linear actuator combined with the tendon-spring mechanism. Myoelectric hand was developed with five modes of grip pattern to perform various objects grasping in activity of daily living. Control strategy had been developed for controlling the motion of flexion and extension on the hand and saving the energy consumed by the actuators. The control strategy was developed under MATLAB/Simulink environment and embedded to Arduino Nano V3 using Simulink Support Package for Arduino Hardware. Surface electromyography (EMG) sensor was used in this research for reading the muscle activity of the user/wearer. The proposed myoelectric hand had been tested in object grasping test and was implemented on a study participant with transradial amputee.

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Dissertations / Theses on the topic "Tendon-spring"

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Muhammad, Zakir Hossain. "High resolution ultrasonic monitoring of muscle dynamics and novel approach to modelling." Doctoral thesis, Universitätsbibliothek Leipzig, 2013. http://nbn-resolving.de/urn:nbn:de:bsz:15-qucosa-102502.

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The presented work is concerned with the development and application of an ultrasonic detection scheme suitable for the monitoring of muscle dynamics with high temporal - down to 5 µs - and spatial resolution - down to 0.78 µm. A differential detection scheme has been developed to monitor the variations of the velocity of longitudinal polarized ultrasound waves travelling in contracting and relaxing muscle, compensating for variations of the path length by referencing to a frame. The observed time dependent variations of the time-of-flight of the ultrasonic waves caused by variations in the muscle and in addition by minor deformations of the enclosure are detected each separately and synchronously and are evaluated differentially. Beside of the detected increase of the speed of sound observed for contracted muscle with respect to the relaxed state of about 0.6%, the recovery time from maximum isometric contraction is quantified and relaxation processes are observed for the recovery phase following the isometric contraction. The developed ultrasonic calliper was employed to monitor both, the brain controlled and externally excited muscle dynamics with sampling intervals down to 10 ms synchronously with signals relating to the excitation. Monitored are the activation, hold, and relaxation phase for maximum voluntary isometric contraction of the gastrocnemius muscle. A so far not reported post tetanus overshoot and subsequent exponential recovery are observed. Both are attributed to the muscle as suggested by combined monitoring with EMG and are modelled with a lumped mechanical circuit containing an idealized bidirectional linear motor unit, ratchet, damper, and springs. Both, the rapid contraction and relaxation phases require a high order filter or alternatively a kernel filter, attributed to the nerve system as suggested by external electric stimulation. The respective response function is modelled by an electrical lumped circuit. Together with a reaction time and occasionally observed droops in the hold phase, both adjusted empirically, the monitored response is represented in close approximation by the combined electrical and mechanical lumped circuits. The respectively determined model parameters provide a refined evaluation scheme for the performance of monitored athletes. Valuable parameters relate to the latent period, the muscle response time, the activation and deactivation dynamics, a possible droop and other instabilities of the hold phase, and parameters characterizing the relaxation phase including the observed post tetanus overshoot and subsequent contraction. Monitored and modelled are also the different processes involved in active muscle dynamics including isotonic, isometric, and eccentric contraction or stretching. The developed technology provides time sequential observation of these processes and registration of their path in the extension and force parameter space. Under suitable conditions the closed-loop cycles of mind controlled human muscle movements proceed along characteristic lines coinciding with well identifiable elementary processes. The presentation of the monitored processes in the extension and force parameter space allows the determination of the mechanical energy expenditure for the observed different muscle actions. An elementary macroscopic mechanical model has been developed, suitable to express the basic features of the monitored muscle dynamics.

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Hokeš, Filip. "Statická a dynamická analýza předpjaté mostní konstrukce." Master's thesis, Vysoké učení technické v Brně. Fakulta stavební, 2014. http://www.nusl.cz/ntk/nusl-226802.

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The main objective of the thesis is to perform static and dynamic analysis of prestressed concrete bridge structures in computational system ANSYS. For the analysis was chosen footbridge over the river Svratka in Brno. In relation to this topic are solved various types of modeling prestress at a finite element level. Before analyzing the footbridge is analyzed in detail the static system and the corresponding final geometry of the structure. Knowledge of the functioning of the static system is used to build the computational model of the structure, on which is subsequently performed static and dynamic analysis.

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Muhammad, Zakir Hossain. "High resolution ultrasonic monitoring of muscle dynamics and novel approach to modelling." Doctoral thesis, 2005. https://ul.qucosa.de/id/qucosa%3A11817.

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The presented work is concerned with the development and application of an ultrasonic detection scheme suitable for the monitoring of muscle dynamics with high temporal - down to 5 µs - and spatial resolution - down to 0.78 µm. A differential detection scheme has been developed to monitor the variations of the velocity of longitudinal polarized ultrasound waves travelling in contracting and relaxing muscle, compensating for variations of the path length by referencing to a frame. The observed time dependent variations of the time-of-flight of the ultrasonic waves caused by variations in the muscle and in addition by minor deformations of the enclosure are detected each separately and synchronously and are evaluated differentially. Beside of the detected increase of the speed of sound observed for contracted muscle with respect to the relaxed state of about 0.6%, the recovery time from maximum isometric contraction is quantified and relaxation processes are observed for the recovery phase following the isometric contraction. The developed ultrasonic calliper was employed to monitor both, the brain controlled and externally excited muscle dynamics with sampling intervals down to 10 ms synchronously with signals relating to the excitation. Monitored are the activation, hold, and relaxation phase for maximum voluntary isometric contraction of the gastrocnemius muscle. A so far not reported post tetanus overshoot and subsequent exponential recovery are observed. Both are attributed to the muscle as suggested by combined monitoring with EMG and are modelled with a lumped mechanical circuit containing an idealized bidirectional linear motor unit, ratchet, damper, and springs. Both, the rapid contraction and relaxation phases require a high order filter or alternatively a kernel filter, attributed to the nerve system as suggested by external electric stimulation. The respective response function is modelled by an electrical lumped circuit. Together with a reaction time and occasionally observed droops in the hold phase, both adjusted empirically, the monitored response is represented in close approximation by the combined electrical and mechanical lumped circuits. The respectively determined model parameters provide a refined evaluation scheme for the performance of monitored athletes. Valuable parameters relate to the latent period, the muscle response time, the activation and deactivation dynamics, a possible droop and other instabilities of the hold phase, and parameters characterizing the relaxation phase including the observed post tetanus overshoot and subsequent contraction. Monitored and modelled are also the different processes involved in active muscle dynamics including isotonic, isometric, and eccentric contraction or stretching. The developed technology provides time sequential observation of these processes and registration of their path in the extension and force parameter space. Under suitable conditions the closed-loop cycles of mind controlled human muscle movements proceed along characteristic lines coinciding with well identifiable elementary processes. The presentation of the monitored processes in the extension and force parameter space allows the determination of the mechanical energy expenditure for the observed different muscle actions. An elementary macroscopic mechanical model has been developed, suitable to express the basic features of the monitored muscle dynamics.:Table of Contents Chapter 1 1. Introduction 1 1.1 Monitoring of muscle biomechanics 1 1.2 Detection methods in biomechanics 2 1.3 Ultrasound in biomechanical application 5 1.4 Skeletal muscle 6 1.5 Activation of skeletal muscle 8 1.6 Catatonus effect 10 Chapter 2 2. Concepts and methods in ultrasonic motion monitoring 12 2.1 Ultrasound 12 2.2 Specific concepts of the developed ultrasonic detection scheme 16 2.2.1 Time-of-flight 17 2.2.2 Cross correlation 18 2.2.3 Concepts of cross correlation 19 2.2.4 Chirp technique 19 Chapter 3 3. Ultrasonic monitoring of the muscle extension 21 3.1 Data analysis 21 3.2 Application of the developed monitoring scheme 23 3.2.1 Fast signal and data acquisition mode 23 3.2.2 Monitoring with off-line evaluation 24 3.2.3 Method 26 3.2.4 Data evaluation 27 3.3 Quasi-continuous monitoring scheme 28 3.3.1 Slow with on-line data processing and display 29 3.3.2 Fast with data storage only 30 3.4 Monitoring with on-line evaluation 34 3.4.1 Application involving monitoring of athletic performance 36 3.4.2 Data evaluation 37 3.4.3 Summary 42 3.5 Comparative study of pre and post physical loading session 43 3.5.1 Method 43 3.5.2 Results 44 3.5.3 Summary 45 Chapter 4 4. High resolution monitoring of the velocity of ultrasound in contracting and relaxing muscle 47 4.1 Methods 49 4.2 Results and evaluation 51 4.2.1 Poission’s ratio for isometrically contracted muscle 52 4.3 Summary 53 Chapter 5 5. Monitoring of muscle dynamics, muscle force, and EMG 56 5.1 Synchronous monitoring of muscle dynamics with muscle force 56 5.1.1 Force-length dynamics under all-out isometric contraction 56 5.1.1.1 Method 56 5.1.1.2 Result and evaluation 58 5.1.2 Force-length dynamics of equal holding monitoring 62 5.1.2.1 Method 62 5.1.2.2 Results and evaluation 63 5.1.3 Summary 67 5.2 Synchronous monitoring of muscle movement with EMG 69 5.2.1 Method 69 5.2.2 Results and evaluation 70 5.3 Synchronous monitoring of muscle movement, EMG and muscle force 73 5.3.1 Method 73 5.3.2 Results and evaluation 74 5.3.3 Summary 77 Chapter 6 6. Monitoring of skeletal muscle dynamics under isometric contraction and modelling of the non-linear response including post tetanus effects 80 6.1 Method 82 6.2 Data analysis 82 6.3 Results and evaluation 82 6.3.1 Mechanical model 83 6.3.2 Equations relating to modelling 85 6.3.3 Comparison of experimental results and modelling 91 6.3.4 Electrical lumped circuit 93 6.4 Summary 100 Chapter 7 7. Lumped Circuit Model and Energy Transfer for quasi-static approximation 101 7.1 Basic muscle model and biomechanical processes 102 7.1.1 Muscle model 102 7.1.2 Force in the muscular motoric processes 104 7.2 Method 104 7.3 Results of experimental observations of muscle action 106 7.3.1 Muscle force and closed-loop contraction dynamics 106 7.3.2 Muscle work considerations 109 7.4 Summary 110 Chapter 8 8.1 Ultrasonic calliper 112 8.2 Interpretation of sound velocity variation in muscle 114 8.3 Monitored muscle dynamics 118 8.4 Isometric muscle action and tetanus effect 121 8.5 Quasi-static muscle action 125 8.6 Summarizing statement with a moderate outlook 126 References 128 Acknowledgements 140 Selbständigkeitserklärung 141

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Book chapters on the topic "Tendon-spring"

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Song, Jiuya, and Wenzeng Zhang. "JLST Hand: A Novel Powerful Self-adaptive Underactuated Hand with Joint-Locking and Spring-Tendon Mechanisms." In Social Robotics. Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-47437-3_48.

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2

Visser, Harry John. "Case #22: Reconstruction of Adult-Acquired Flatfoot Deformity with Ruptured Tibialis Posterior Tendon and Spring Ligament." In Challenges in Foot and Ankle Reconstructive Surgery. Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-07893-4_22.

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Drapé, Jean-Luc. "Tendon tibial postérieur et spring ligament." In Imagerie du Pied et De la Cheville. Elsevier, 2010. http://dx.doi.org/10.1016/b978-2-294-70937-1.50013-8.

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Jiayi Cai, Catherine, Seenivasan Lalithkumar, Xinchen Cai, Krishna Ramachandra, Francis Wong, and Hongliang Ren. "Tendon routing and anchoring for cable-driven single-port surgical manipulators with spring backbones and luminal constraints." In Flexible Robotics in Medicine. Elsevier, 2020. http://dx.doi.org/10.1016/b978-0-12-817595-8.00007-9.

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Conference papers on the topic "Tendon-spring"

1

Wang, Zhipeng, Zengwei Wang, Tim C. Lueth, Chujun Zong, and Yilun Sun. "Design of a 3D-Printed 6-DOF Tendon-Driven Continuum Robot With Spring-Based Flexure Joints." In 2025 IEEE 8th International Conference on Soft Robotics (RoboSoft). IEEE, 2025. https://doi.org/10.1109/robosoft63089.2025.11020834.

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Hollander, Kevin W., Thomas G. Sugar, and Donald E. Herring. "A Robotic “Jack Spring”™ for Ankle Gait Assistance." In ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2005. http://dx.doi.org/10.1115/detc2005-84492.

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A Robotic ‘Jack Spring’™ is a new type of mechanical actuator, which is based upon the concept of structure control. A Jack Spring™ mechanism is used to create an adjustable Robotic Tendon, which is a spring based linear actuator in which the properties of a spring are crucial to its successful use in gait assistance. Like its human analog, the adjustable Robotic Tendon uses its inherent elastic nature to reduce both peak power and energy requirements for its motor. In the ideal example, peak power required of the motor for ankle gait is reduced from 250W to just 81 W. In addition, ideal energy requirements are reduced from nearly 36 Joules to just 25 Joules per step. Using this approach, an initial prototype is expected to provide 100% of the power and energy neccessary for ankle gait in a compact 0.84kg package. This weight is 8 times less than that predicted for an equivalent direct drive approach.

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Haiya, Kazuo, Satoshi Komada, and Junji Hirai. "Tension control for tendon mechanisms by compensation of nonlinear spring characteristic equation error." In 2010 11th IEEE International Workshop on Advanced Motion Control (AMC). IEEE, 2010. http://dx.doi.org/10.1109/amc.2010.5464047.

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Robertson, Benjamin D., and Gregory S. Sawicki. "Influence of parallel spring-loaded exoskeleton on ankle muscle-tendon dynamics during simulated human hopping." In 2011 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE, 2011. http://dx.doi.org/10.1109/iembs.2011.6090109.

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Yan, Fasuo, Hui Yang, Liping Sun, and Dagang Zhang. "Nonlinear Analysis of Dynamic Responses of a MOSES TLP in Extreme Conditions." In ASME 2015 34th International Conference on Ocean, Offshore and Arctic Engineering. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/omae2015-41174.

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The configuration of MOSES TLP is quite different from conventional types. A compact central columns group and extended tendon support structure provides better deck support and hydrodynamic efficiency. A fully-coupled time domain analysis was adopted to evaluate effects of first and second order wave forces, motions and tendon tensions in hurricane conditions. The nonlinear responses due to the environmental load and interaction between the hull and tendons that includes large surge-heave motion in the low frequency and resonant heave/pitch responses with the spring loads in the high frequency are focused on in the paper. Results from numerical simulation are compared with data in full scale measurement.

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Piovesan, Davide, and Phanindra Alladi. "Analysis of an Energy Saving Ratchet-Based Ankle Exoskeleton." In ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/detc2016-60137.

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This paper presents an analysis of a mechanism which aims to reduce the energy consumption during locomotion. The mechanism is based on a linear extension spring positioned in parallel with the Achilles tendon. The tension of the spring is regulated by a ratchet-pawl mechanism that engages during the flat foot phase of locomotion. The tension of the spring is used in parallel to the calf muscles to slow down the velocity of the body before the double support phase of locomotion thus avoiding the energy to be dissipated by the muscles. The release of the ratchet avoids reinjection of the energy stored in the spring back into the system. We find that this process is theoretically sound and we provide a verification of the contact stresses acting on the release mechanism.

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Bian, Xiaoqiang Sean, Steven J. Leverette, and Oriol R. Rijken. "A TLP Solution for 8000 Ft Water Depth." In ASME 2010 29th International Conference on Ocean, Offshore and Arctic Engineering. ASMEDC, 2010. http://dx.doi.org/10.1115/omae2010-20409.

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A Tension Leg Platform (TLP) solution is proposed for dry tree applications in ultra-deep water depths (∼8000 ft). Major challenges for a TLP associated with the ultra deep environment are addressed with an innovative air spring – mass vibration absorber (VAB) system introduced by SBM Atlantia. The tendon system for the TLP therefore is able to scale essentially linearly with the water depth, instead of quadratically for a conventional TLP. This paper details the integrated platform design issues, including the hull, tendon design and the coupled motion analysis approach. It also discusses the system weight and dimension scales for typical applications and the constructability in terms of their upper bound limits compared with existing platforms. A design example is presented for the offshore Brazil Santos Basin environment at 8000 ft water depth with consistent current and relatively large fatigue sea states.

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Hitt, Joseph K., Ryan Bellman, Matthew Holgate, Thomas G. Sugar, and Kevin W. Hollander. "The SPARKy (Spring Ankle With Regenerative Kinetics) Project: Design and Analysis of a Robotic Transtibial Prosthesis With Regenerative Kinetics." In ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2007. http://dx.doi.org/10.1115/detc2007-34512.

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Even today’s most sophisticated microprocessor controlled ankle-foot prosthetic devices are passive. They lack internal elements that actively generate power, which is required during the “push-off” phase of normal able-bodied walking gait. Consequently, lower limb amputees expend 20–30% more metabolic power to walk at the same speed as able-bodied individuals. Key challenges in the development of an active ankle-foot prosthetic device are the lack of high power and energy densities in current actuator technology. Human gait requires 250W of peak power and 36 Joules of energy per step (80kg subject at 0.8Hz walking rate). Even a highly efficient motor such as the RE75 by Maxon Precision Motors, Inc. rated for 250W continuous power with an appropriate gearbox would weigh 6.6 Kg. This paper presents the first phase of the Spring Ankle with Regenerative Kinetics (SPARKy 1), a multi-phased project funded by the US Army Military Amputee Research Program, which seeks to develop a new generation of powered prosthetic devices based on the Robotic Tendon actuator, that significantly minimizes the peak power requirement of an electric motor and total system energy requirement while providing the amputee enhanced ankle motion and “push-off” power. This paper will present data to show the kinetic advantages of the Robotic Tendon and the electro-mechanical design and analysis of SPARKy 1 that will provide its users with 100% of required “push-off” power and ankle sagittal plane range of motion comparable to able-bodied gait.

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Baggetta, Mario, Vazzoler Margherita, Gianluca Palli, Claudio Melchiorri, and Giovanni Berselli. "Conceptual Design and Virtual Prototyping of a Compliant, Low-Cost Prosthetic Hand." In ASME 2023 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2023. http://dx.doi.org/10.1115/smasis2023-110461.

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Abstract This paper presents the development of an underactuated prosthetic hand that offers a cost-effective, functional, and human-like alternative for individuals with upper limb amputations. The design and virtual prototyping of the hand focus on achieving a size, weight, and appearance that closely resemble a human hand, aiming to enhance user acceptance. The prosthetic hand consists of ten degrees of freedom (DoF), with four of them being actuated. Among these, three degrees of actuation (DoA) are controlled by electric motors and a tendon transmission system, while the remaining DoA is manually actuated by the user through a spring plunger. The underactuated design incorporates compliant hinges based on springs and a mechanism that decouples the motors from the fingers, enabling more natural movements and greater adaptability to different objects. By incorporating a tendon transmission system and manual thumb actuation, users can easily accomplish basic grasping tasks without relying on complex control systems. To evaluate the gripping abilities and maximum gripping force of the hand, a virtual prototype has been created and tested in different grasping scenarios. This assessment allows for performance evaluation and refinement of the design. To improve affordability and accessibility for a wider range of users, the prosthetic hand has been designed with a focus on cost-effective components and widespread utilization of additively manufactured parts.

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Kozuki, Toyotaka, Takuma Shirai, Yuki Asano, et al. "Muscle-tendon complex control by “Tension controlled Muscle” and “Non-linear Spring Ligament” for real world musculoskeletal body simulator Kenshiro." In 2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob). IEEE, 2014. http://dx.doi.org/10.1109/biorob.2014.6913891.

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