Design and evaluation of a torque-controllable knee joint actuator with adjustable series compliance and parallel elasticity
Tomislav Bacek, Marta Moltedo, Carlos Rodriguez-Guerrero, Joost Geeroms, Bram Vanderborght, Dirk Lefeber
MECHANISM AND MACHINE THEORY | PERGAMON-ELSEVIER SCIENCE LTD | Published : 2018
Compliant actuators are increasingly being designed for wearable robots (WRs) to more adequately address their issues with safety, wearability, and overall system efficiency. The advantages of mechanical compliance are utilized in a new actuator designed to exploit inherent gait dynamics. Unlike any other orthotic power unit, it combines Variable Stiffness Actuator (VSA) and Parallel Elasticity Actuation (PEA) unit into a single modular system. This way, the actuator has the potential to provide the benefits of VSA when net-positive work is necessary and efficiently store energy during energetically conservative tasks. A novel real-time torque controller allows the two units to work together..View full abstract
Awarded by MIRAD (Flemish agency for Innovation by Science and Technology)
Awarded by projects BioMot (EC's 7th Framework Program)
IWT-SBO 120057 The presented work was developed within the projects BioMot (EC's 7th Framework Program, Grant Agreement number IFP7-ICT-2013-10-611695) and MIRAD (Flemish agency for Innovation by Science and Technology, IWT-SBO 120057) and it is partially supported by Flanders Make.