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Series Elastic Actuators (SEAs) are used extensively in the field of wearable robotics because of their energy efficiency. Redundant drivetrains enable a further reduction in electrical energy consumption, as they use the actuator’s motors in a more energy efficient way. In this work, we present a Series Elastic Dual-Motor Actuator (SEDMA), a kinematically redundant actuator with series elasticity. We simulate its use in an ankle prosthesis and compare its energy efficiency to that of a traditional SEA. Results indicate an energy reduction of 16% compared to the SEA.
Original languageEnglish
Title of host publicationWearable Robotics: Challenges and Trends
PublisherSpringer
Pages165-169
Number of pages5
Volume22
ISBN (Electronic)978-3-030-01887-0
ISBN (Print)978-3-030-01886-3
Publication statusPublished - 14 Oct 2018

Publication series

NameBiosystems & Biorobotics
PublisherSpringer
Volume22

ID: 38410169