Spring location design of a TR Ankle Assisting Device

Takamaru Saito; Marco Ceccarelli; Yukio Takeda; Ming Jiang; Matteo Russo

doi:10.57272/jciftomm.8.0_153

Vol. 8 (2025)

DOI https://doi.org/10.57272/jciftomm.8.0_153

Conference information

Host: Japanese Council of IFToMM

Name : The 8th Jc-IFToMM International Symposium (in conjunction with The 31st Jc-IFToMM Symposium on Theory of Machines and Mechanisms)

Location : Nagano, Japan

Date : June 21, 2025 - June 22, 2025

Spring location design of a TR Ankle Assisting Device

*Takamaru Saito, Marco Ceccarelli, Yukio Takeda, Ming Jiang, Matteo Russo

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CONFERENCE PROCEEDINGS OPEN ACCESS

Pages 153-160

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Abstract

In TR (Tokyo-Rome) Ankle Assisting Device, 4 bar linkage mechanism is used to transmit motor power to assisting link. The use of spring to assist motor power of this linkage is discussed in this work. The possible candidates of spring location are presented by topology search method. The effect of the use of spring is discussed in a case study.

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