In the field of wearable robots, high power density and highly efficient actuators are required to handle the high power motion without becoming heavy and bulky and hence hamper their mobility. Typically, electrical motors are used in combination with high gear ratio gearheads or lever arms in order to achieve the required torques. These gearboxes consist mainly out of several stages of simple Planetary Gear Trains (PGTs). However, this approach leads to big and heavy gearboxes when high torque is needed. An alternative design to obtain the required torque increase can be based on the more compact design of Compound Planetary Gears (C-PGTs). It is shown that the latter mechanism can achieve a gear ratios up to 1:600 while withstanding an output torque of 100Nm.
Original languageEnglish
Title of host publicationWearable Robotics: Challenges and Trends: Proceedings of the 4th International Symposium on Wearable Robotics, WeRob2018
Number of pages5
Publication statusPublished - 14 Oct 2018
EventWeRob 2018: The International Symposium on Wearable Robotics - Il Palazzo dei Congressi di Pisa, Pisa, Italy
Duration: 16 Oct 201820 Oct 2018


ConferenceWeRob 2018: The International Symposium on Wearable Robotics
Internet address

ID: 38409961