Design of a series visco-elastic actuator for multi-purpose rehabilitation haptic device
نویسندگان
چکیده
منابع مشابه
design an artificial foot using series elastic actuator
: investigating the mechanical behaviour of a healthy human ankle shows that it can be simulated by a mechanism composed of simple elements such as spring, and actuator. hence, appropriate design of this mechanism can be resulted to an artificial ankle that can help amputees properly. researches show that whatever the biomechanical behaviour of artificial ankle is similar to that of natural ank...
متن کاملClutchable series-elastic actuator: Implications for prosthetic knee design
Currently, the mobility of above-knee amputees is limited by the lack of available prostheses that can efficiently replicate biologically accurate movements. In this study, a powered knee prosthesis was designed utilizing a novel mechanism, known as a clutchable series-elastic actuator (CSEA).The CSEA includes a low-power clutch in parallel with an electric motor within a traditional series-ela...
متن کاملOptimal Robust Control for a Series Elastic Actuator assisting Knee Joint
Rehabilitation and assistive systems such as rotary series elastic actuators (RSEA) should provide the desired torque precisely. In this paper, to improve the life quality of those who suffer from weak knees, the control problem of a rotary series elastic actuator (RSEA) has been studied in order to generate soft human walking motion. These actuators produce the require torque, but the nonlinea...
متن کاملOptimal Design of Nonlinear Series Elastic Actuator for Minimization of Actuator Power
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...
متن کاملImpedance Control of a Rotary Series Elastic Actuator for Knee Rehabilitation
This paper deals with impedance control of a rotary Series Elastic Actuator designed to assist in flexion/extension of the knee joint during physical therapy. The device includes a DC motor, a worm gear and a customized torsion spring. Since the elastic element is the most important component in the actuator design, a finite element analysis is used to meet the specific requirements of knee ass...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of NeuroEngineering and Rehabilitation
سال: 2011
ISSN: 1743-0003
DOI: 10.1186/1743-0003-8-3