NDLI: A novel compact and lightweight actuator for wearable robots

Content Provider	IEEE Xplore Digital Library
Author	Bergamasco, M. Salsedo, F. Marcheschi, S. Lucchesi, N. Fontana, M.
Copyright Year	2010
Description	Author affiliation: PERCRO Lab of Scuola Superiore S. Anna, Pisa, Italy (Bergamasco, M.; Salsedo, F.; Marcheschi, S.; Lucchesi, N.; Fontana, M.)
Abstract	Advanced robotics needs a new breed of actuators, capable to exhibit a large number of desirable features, ranging from high power/torque density, high efficiency, zero backlash and low noise, to low reflected mechanical impedance, high bandwidth and accuracy. Even if it is quite evident that to fully match these requirements new basic actuation principles have to be investigated and developed in the long term, there is still scope now for innovating the field by combining mature components into new actuation schemes. This paper reports the development and the experimental evaluation of a new actuator, aiming at improving the torque density and the mechanical efficiency. The device has shown impressive performances being able to exert up to 500Nm continuous torque and 800Nm peak torque with 85% mechanical efficiency and zero backlash, up to 60°/s maximum output speed for a total weight of just 6Kg, comprising the structural case covering the internal mechanics. The actuator has been expressly conceived as an actuation module to be integrated in a fully powered whole body exoskeleton intended for material handling in tight and unstructured environments (see Fig.1).
Starting Page	4197
Ending Page	4203
File Size	783791
Page Count	7
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509167
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Actuators Torque Service robots Robot sensing systems Robotics and automation Bandwidth Human robot interaction Impedance Manufacturing industries Robot vision systems
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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