NDLI: Conceptual design of a novel variable stiffness actuator for use in lower limb exoskeletons

Content Provider	IEEE Xplore Digital Library
Author	Bacek, T. Unal, R. Moltedo, M. Junius, K. Cuypers, H. Vanderborght, B. Lefeber, D.
Copyright Year	2015
Description	Author affiliation: Dept. of Mech. Eng., Vrije Univ. Brussel, Brussels, Belgium (Bacek, T.; Unal, R.; Moltedo, M.; Junius, K.; Cuypers, H.; Vanderborght, B.; Lefeber, D.)
Abstract	A novel modular variable stiffness actuator (VSA), for use in the knee joint of lower limb exoskeletons, is presented. The actuator consists of a combination of a spindle-driven MACCEPA (Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator) and a spring acting in parallel, (dis)engaged by means of a simple on/off mechanism depending on the phase of the gait cycle. Such design approach is inspired by two clearly distinctive gait phases of a knee joint, one with a high velocity and low torque, and another one with low velocity and high torque profiles. By tackling each of these two phases separately, energy consumption and torque requirements of an active part of the actuator have been decreased, while keeping the size and the weight of the actuator at a reasonable size for use in wearable robots (WR).
Starting Page	583
Ending Page	588
File Size	361151
Page Count	6
File Format	PDF
ISSN	19457901
e-ISBN	9781479918089
DOI	10.1109/ICORR.2015.7281263
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-08-11
Publisher Place	Singapore
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Knee Actuators Torque Elasticity DC motors Springs Joints
Content Type	Text
Resource Type	Article
Subject	Rehabilitation Control and Systems Engineering Electrical and Electronic Engineering

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