Human-Robot Interaction (HRI) devices are becoming increasingly customary to assist humans, both in industrial and clinical environments. Traditional robotic gearbox technologies, like cycloid reducers or Harmonic Drives ©, perform well to solve the need for extreme precision and high speed of industrial robots, but when used in HRI devices they are usually forced above their limits, ultimately restraining the performance and the widespread use of such devices. A closer analysis of the specific needs behind the actuation for human limb assistance and replication highlights the differences with traditional robotic applications. Matching those needs with the main characteristics of different robotic gearboxes displays the limitations of traditional robotic transmissions, but it also unveils the potential of a virtually unexploited kind of planetary gear trains. This paper presents the prototype and associated first test results of the Wolfrom alpha-I concept. This novel concept demonstrates the application potential of Wolfrom-based planetary gear trains in HRI actuation.
Original languageEnglish
Title of host publicationProceedings of the International Conference on Gears 2019
PublisherVDI - Verein der Deutsche Ingenieure
Number of pages12
ISBN (Electronic)978-3-18-092355-0
Publication statusPublished - 30 Sep 2019
EventInternational Conference on Gears 2019 - Garching- Technische Universität München, Munich, Germany
Duration: 18 Sep 201920 Sep 2019


ConferenceInternational Conference on Gears 2019
Abbreviated titleGears2019

ID: 47577352