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A Novel Modular Compliant Knee Joint Actuator for use in Assistive and Rehabilitation Orthoses. / Bacek, Tomislav; Moltedo, Marta; Langlois, Kevin; Rodriguez Guerrero, Carlos David; Vanderborght, Bram; Lefeber, Dirk.

IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2017-September IEEE, 2017. p. 5812-5817 8206472.

Research output: Chapter in Book/Report/Conference proceedingConference paper

Harvard

Bacek, T, Moltedo, M, Langlois, K, Rodriguez Guerrero, CD, Vanderborght, B & Lefeber, D 2017, A Novel Modular Compliant Knee Joint Actuator for use in Assistive and Rehabilitation Orthoses. in IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. vol. 2017-September, 8206472, IEEE, pp. 5812-5817, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Vancouver, Canada, 24/09/17. https://doi.org/10.1109/IROS.2017.8206472

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Author

BibTeX

@inproceedings{a4be9f41bfec4ebfa06e562283c8f330,
title = "A Novel Modular Compliant Knee Joint Actuator for use in Assistive and Rehabilitation Orthoses",
abstract = "Despite significant advancements in the field of wearable robots (WRs), commercial WRs still use traditional direct-drive actuation units to power their joints. On the other hand, in research prototypes compliant actuators are increasingly being used to more adequately address the issues of safety, robustness, control and overall system efficiency. The advantages of mechanical compliance are exploited in a novel modular actuator prototype designed for the knee joint. Due to its modularity, the actuator can be implemented in a knee joint of a standalone or a multi-joint lower-limbs orthosis, for use in gait rehabilitation and/or walking assistance. Differently from any other actuator used in orthotic research prototypes, it combines a Variable Stiffness Actuator (VSA) and a Parallel Elasticity Actuation (PEA) unit in a single modular system. Although independent, the units are designed to work together in order to fully mimic dynamic behavior of the human knee joint. In this paper, design aspects and functional evaluation of the new actuator are presented and a rationale for such a design in biomechanics of the human knee joint is given. The VSA subsystem is characterized in a quasi-static benchmarking environment and the results showing main performance indicators are presented.",
author = "Tomislav Bacek and Marta Moltedo and Kevin Langlois and {Rodriguez Guerrero}, {Carlos David} and Bram Vanderborght and Dirk Lefeber",
year = "2017",
month = "12",
day = "13",
doi = "10.1109/IROS.2017.8206472",
language = "English",
isbn = "978-1-5386-2683-2",
volume = "2017-September",
pages = "5812--5817",
booktitle = "IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems",
publisher = "IEEE",

}

RIS

TY - GEN

T1 - A Novel Modular Compliant Knee Joint Actuator for use in Assistive and Rehabilitation Orthoses

AU - Bacek, Tomislav

AU - Moltedo, Marta

AU - Langlois, Kevin

AU - Rodriguez Guerrero, Carlos David

AU - Vanderborght, Bram

AU - Lefeber, Dirk

PY - 2017/12/13

Y1 - 2017/12/13

N2 - Despite significant advancements in the field of wearable robots (WRs), commercial WRs still use traditional direct-drive actuation units to power their joints. On the other hand, in research prototypes compliant actuators are increasingly being used to more adequately address the issues of safety, robustness, control and overall system efficiency. The advantages of mechanical compliance are exploited in a novel modular actuator prototype designed for the knee joint. Due to its modularity, the actuator can be implemented in a knee joint of a standalone or a multi-joint lower-limbs orthosis, for use in gait rehabilitation and/or walking assistance. Differently from any other actuator used in orthotic research prototypes, it combines a Variable Stiffness Actuator (VSA) and a Parallel Elasticity Actuation (PEA) unit in a single modular system. Although independent, the units are designed to work together in order to fully mimic dynamic behavior of the human knee joint. In this paper, design aspects and functional evaluation of the new actuator are presented and a rationale for such a design in biomechanics of the human knee joint is given. The VSA subsystem is characterized in a quasi-static benchmarking environment and the results showing main performance indicators are presented.

AB - Despite significant advancements in the field of wearable robots (WRs), commercial WRs still use traditional direct-drive actuation units to power their joints. On the other hand, in research prototypes compliant actuators are increasingly being used to more adequately address the issues of safety, robustness, control and overall system efficiency. The advantages of mechanical compliance are exploited in a novel modular actuator prototype designed for the knee joint. Due to its modularity, the actuator can be implemented in a knee joint of a standalone or a multi-joint lower-limbs orthosis, for use in gait rehabilitation and/or walking assistance. Differently from any other actuator used in orthotic research prototypes, it combines a Variable Stiffness Actuator (VSA) and a Parallel Elasticity Actuation (PEA) unit in a single modular system. Although independent, the units are designed to work together in order to fully mimic dynamic behavior of the human knee joint. In this paper, design aspects and functional evaluation of the new actuator are presented and a rationale for such a design in biomechanics of the human knee joint is given. The VSA subsystem is characterized in a quasi-static benchmarking environment and the results showing main performance indicators are presented.

UR - http://www.scopus.com/inward/record.url?scp=85041958042&partnerID=8YFLogxK

U2 - 10.1109/IROS.2017.8206472

DO - 10.1109/IROS.2017.8206472

M3 - Conference paper

SN - 978-1-5386-2683-2

VL - 2017-September

SP - 5812

EP - 5817

BT - IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - IEEE

ER -

ID: 32635029