Standard

Harvard

APA

Vancouver

Author

BibTeX

@article{6851ad361e9647ae9030a74cd5ca9fe1,
title = "Design and Evaluation of a Torque-Controllable Knee Joint Actuator with Adjustable Series Compliance and Parallel Elasticity",
abstract = "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 throughout the gait cycle. The design aspects and experimental evaluation of the actuator and its low-level torque controller are presented in this paper. The actuator characterization, carried out in two benchmarking environments, highlights the actuator's high torque density and favorable energetic performance, providing evidence for its applicability in a standalone or multiple-joint lower limb orthoses.",
keywords = "Actuator, Compliance, Parallel elasticity, Series elasticity, Torque controller, Variable stiffness",
author = "Tomislav Bacek and Marta Moltedo and {Rodriguez Guerrero}, {Carlos David} and Joost Geeroms and Bram Vanderborght and Dirk Lefeber",
year = "2018",
month = "12",
doi = "10.1016/j.mechmachtheory.2018.08.014",
language = "English",
volume = "130",
pages = "71--85",
journal = "Mechanism and Machine Theory",
issn = "0094-114X",
publisher = "Elsevier",

}

RIS

TY - JOUR

T1 - Design and Evaluation of a Torque-Controllable Knee Joint Actuator with Adjustable Series Compliance and Parallel Elasticity

AU - Bacek, Tomislav

AU - Moltedo, Marta

AU - Rodriguez Guerrero, Carlos David

AU - Geeroms, Joost

AU - Vanderborght, Bram

AU - Lefeber, Dirk

PY - 2018/12

Y1 - 2018/12

N2 - 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 throughout the gait cycle. The design aspects and experimental evaluation of the actuator and its low-level torque controller are presented in this paper. The actuator characterization, carried out in two benchmarking environments, highlights the actuator's high torque density and favorable energetic performance, providing evidence for its applicability in a standalone or multiple-joint lower limb orthoses.

AB - 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 throughout the gait cycle. The design aspects and experimental evaluation of the actuator and its low-level torque controller are presented in this paper. The actuator characterization, carried out in two benchmarking environments, highlights the actuator's high torque density and favorable energetic performance, providing evidence for its applicability in a standalone or multiple-joint lower limb orthoses.

KW - Actuator

KW - Compliance

KW - Parallel elasticity

KW - Series elasticity

KW - Torque controller

KW - Variable stiffness

UR - http://www.scopus.com/inward/record.url?scp=85052313489&partnerID=8YFLogxK

U2 - 10.1016/j.mechmachtheory.2018.08.014

DO - 10.1016/j.mechmachtheory.2018.08.014

M3 - Article

VL - 130

SP - 71

EP - 85

JO - Mechanism and Machine Theory

JF - Mechanism and Machine Theory

SN - 0094-114X

ER -

ID: 39190892