NDLI: Novel Compliant Actuator for Safe and Ergonomic Rehabilitation Robots

Content Provider	IEEE Xplore Digital Library
Author	Vanderniepen, I. Van Ham, R. Naudet, J. Van Damme, M. Vanderborght, B. Versluys, R. Lefeber, D.
Copyright Year	2007
Description	Author affiliation: Vrije Univ. Brussel, Brussels (Vanderniepen, I.; Van Ham, R.; Naudet, J.; Van Damme, M.; Vanderborght, B.; Versluys, R.; Lefeber, D.)
Abstract	Rehabilitation robotics is a young discipline that will become an imperative when the age of the population will keep rising. A short overview of the necessary general requirements of rehabilitation robotics will be given. Subsequently, this paper introduces a novel rotational actuator with adaptable compliance that has several characteristics that make it very suitable for use within this subfield of robotics. The MACCEPA concept and design are described in detail. The actuator can be comprised as a fully adaptable torsion spring with an online variable spring constant. It is shown, depending on the design parameters, that the torque is a quasi linear function with respect to the angle between equilibrium position and actual position. The change of the pre-tension also has a quasi linear effect on the torque. Another advantage is that the actuator can be built with standard components, e.g. electrical servo motors. The implementation of this novel actuator in rehabilitation robotics will be discussed by means of a case-study, the concept of a smart, wearable elbow rehabilitation device.
Starting Page	790
Ending Page	797
File Size	7012864
Page Count	8
File Format	PDF
ISBN	9781424413195
DOI	10.1109/ICORR.2007.4428515
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-06-13
Publisher Place	Netherlands
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Actuators Design engineering Medical robotics Torque Ergonomics Medical treatment Rehabilitation robotics Elbow Springs Extremities
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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