Design and Characterization of a Novel High-Power Series Elastic Actuator for a Lower Limb Robotic Orthosis
نویسندگان
چکیده
منابع مشابه
Design and Characterization of a Novel High-Power Series Elastic Actuator for a Lower Limb Robotic Orthosis
A safe interaction is crucial in wearable robotics in general, while in assistive and rehabilitation applications, robots may also be required to minimally perturb physiological movements, ideally acting as perfectly transparent machines. The actuation system plays a central role because the expected performance, in terms of torque, speed and control bandwidth, must not be achieved at the expen...
متن کاملDesign and Characterization of a Novel High-Power Series Elastic Actuator for a Lower Limb Robotic Orthosis
A safe interaction is crucial in wearable robotics in general, while in assistive and rehabilitation applications, robots may also be required to minimally perturb physiological movements, ideally acting as perfectly transparent machines. The actuation system plays a central role because the expected performance, in terms of torque, speed and control bandwidth, must not be achieved at the expen...
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In this paper, we propose a methodology to optimize the nonlinear stiffness of nonlinear Series Elastic Actuators (SEAs). The nonlinear restoring forces of the springs are optimized in order to minimize the mechanical power of the actuators of the SEAs. We define the cost function as the time average of the square of the actuator power, and use a 3 order Hermite interpolation to parameterize th...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2013
ISSN: 1729-8814,1729-8814
DOI: 10.5772/56927