1. Date of download: 1/3/2018
Copyright © ASME. All rights reserved.
From: An Innovative Design of Artificial Knee Joint Actuator With Energy Recovery Capabilities
J. Mechanisms Robotics. 2015;8(1): doi: /
Figure Legend:
Speed and power requirements of the knee joint in level ground walking [3]

2. Date of download: 1/3/2018
Copyright © ASME. All rights reserved.
From: An Innovative Design of Artificial Knee Joint Actuator With Energy Recovery Capabilities
J. Mechanisms Robotics. 2015;8(1): doi: /
Figure Legend:
Configuration of the actuation system proposed under direct, reverse, and irreversible operating conditions. The arrows indicate the power flow direction in each of them.

3. Date of download: 1/3/2018
Copyright © ASME. All rights reserved.
From: An Innovative Design of Artificial Knee Joint Actuator With Energy Recovery Capabilities
J. Mechanisms Robotics. 2015;8(1): doi: /
Figure Legend:
Power requirements of the knee joint, the flywheel, and the electric machine in the F-IVT system proposed in this work to power level ground walking under ideal working conditions

4. Date of download: 1/3/2018
Copyright © ASME. All rights reserved.
From: An Innovative Design of Artificial Knee Joint Actuator With Energy Recovery Capabilities
J. Mechanisms Robotics. 2015;8(1): doi: /
Figure Legend:
The IVT ratio (a) and the motor/flywheel speed (b) in level ground walking under ideal working conditions (negligible power loss in the transmission)

5. Date of download: 1/3/2018
Copyright © ASME. All rights reserved.
From: An Innovative Design of Artificial Knee Joint Actuator With Energy Recovery Capabilities
J. Mechanisms Robotics. 2015;8(1): doi: /
Figure Legend:
Efficiency maps of all the components of the F-IVT in level ground walking at 1.1 m/s: the motor (a), the IVT (b) and the HD unit both in direct (c), and reverse (d) operating modes

6. Date of download: 1/3/2018
Copyright © ASME. All rights reserved.
From: An Innovative Design of Artificial Knee Joint Actuator With Energy Recovery Capabilities
J. Mechanisms Robotics. 2015;8(1): doi: /
Figure Legend:
Efficiency of the motor, of the IVT, and of the HD unit of F-IVT in level ground walking at 1.1 m/s

7. Date of download: 1/3/2018
Copyright © ASME. All rights reserved.
From: An Innovative Design of Artificial Knee Joint Actuator With Energy Recovery Capabilities
J. Mechanisms Robotics. 2015;8(1): doi: /
Figure Legend:
Power requirements of the knee joint, the flywheel, and the electric machine in the F-IVT. The assumed operating condition is level ground walking at 1.1 m/s. Power loss in all the components of the actuator is simulated in detail.

8. Date of download: 1/3/2018
Copyright © ASME. All rights reserved.
From: An Innovative Design of Artificial Knee Joint Actuator With Energy Recovery Capabilities
J. Mechanisms Robotics. 2015;8(1): doi: /
Figure Legend:
Efficiency of the motor and of the HD unit of FR-D in level ground walking at 1.1 m/s

9. Date of download: 1/3/2018
Copyright © ASME. All rights reserved.
From: An Innovative Design of Artificial Knee Joint Actuator With Energy Recovery Capabilities
J. Mechanisms Robotics. 2015;8(1): doi: /
Figure Legend:
Electric energy and peak power requirements in level ground walking and running with F-IVT and FR-D actuators

10. Date of download: 1/3/2018
Copyright © ASME. All rights reserved.
From: An Innovative Design of Artificial Knee Joint Actuator With Energy Recovery Capabilities
J. Mechanisms Robotics. 2015;8(1): doi: /
Figure Legend:
Speed and power requirements of the knee joint in a cycle of running [3]

11. Date of download: 1/3/2018
Copyright © ASME. All rights reserved.
From: An Innovative Design of Artificial Knee Joint Actuator With Energy Recovery Capabilities
J. Mechanisms Robotics. 2015;8(1): doi: /
Figure Legend:
Schematic picture of the shunted CVT architecture of IVT, where power circulation of type I ((a), (b)) or of type II ((c), (d)) can take place. Figures above depict the two types of power circulation in direct ((a), (c)) and in reverse ((b), (d)) operating modes.