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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Shiqian Wang van Dijk, W. van der Kooij, H. |
| Copyright Year | 2011 |
| Description | Author affiliation: Biomechanical Engineering Dept., Delft University of Technology (TU Delft), Delft, the Netherlands (Shiqian Wang; van Dijk, W.) || Biomechatronics and Rehabilitation Technology, University of Twente, Enschede, the Netherlands, Biomechanical Engineering Dept., Delft University of Technology, Delft, the Netherlands (van der Kooij, H.) |
| Abstract | An exoskeleton has to be lightweight, compliant, yet powerful to fulfill the demanding task of walking. This imposes a great challenge for the actuator design. Electric motors, by far the most common actuator in robotic, orthotic, and prosthetic devices, cannot provide sufficiently high peak and average power and force/torque output, and they normally require high-ratio, heavy reducer to produce the speeds and high torques needed for human locomotion. Studies on the human muscle-tendon system have shown that muscles (including tendons and ligaments) function as a spring, and by storing energy and releasing it at a proper moment, locomotion becomes more energy efficient. Inspired by the muscle behavior, we propose a novel actuation strategy for exoskeleton design. In this paper, the collected gait data are analyzed to identify the spring property of the human muscle-tendon system. Theoretical optimization results show that adding parallel springs can reduce the peak torque by 66%, 53%, and 48% for hip flexion/extension (F/E), hip abduction/adduction (A/A), and ankle dorsi/plantar flexion (D/PF), respectively, and the rms power by 50%, 45%, and 61%, respectively. Adding a series spring (forming a Series Elastic Actuator, SEA) reduces the peak power by 79% for ankle D/PF, and by 60% for hip A/A. A SEA does not reduce the peak power demand at other joints. The optimization approach can be used for designing other wearable robots as well. |
| Starting Page | 1 |
| Ending Page | 6 |
| File Size | 344981 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424498635 |
| ISSN | 19457898 |
| e-ISBN | 9781424498628 |
| e-ISBN | 9781424498611 |
| DOI | 10.1109/ICORR.2011.5975471 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2011-06-29 |
| Publisher Place | Switzerland |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Legged locomotion Torque wearable robots Exoskeletons PEA Hip SEA spring Gears exoskeleton actuation Springs Joints |
| Content Type | Text |
| Resource Type | Article |
| Subject | Rehabilitation Control and Systems Engineering Electrical and Electronic Engineering |
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