Design, Modelling and Control of an Active Weight-Bearing Knee Exoskeleton with a Series Elastic Actuator
| Autor: | João Espregueira-Mendes, Óscar Carvalho, Bruno Xavier de Freitas, Jaime C. Fonseca, Daniel Renjewski, Paulo Flores, Mariana Silva |
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| Přispěvatelé: | Lehrstuhl f. Angewandte Mechanik |
| Rok vydání: | 2018 |
| Předmět: |
Series (mathematics)
Computer science Control (management) 0402 animal and dairy science Stiffness 04 agricultural and veterinary sciences medicine.disease_cause 040201 dairy & animal science Exoskeleton Weight-bearing ddc Control theory 040103 agronomy & agriculture medicine 0401 agriculture forestry and fisheries Torque medicine.symptom Actuator |
| Popis: | Knee disorders are a fundamental problem in modern society. For this reason, the design of medical devices, such as an orthosis to provide rehabilitation, is of great importance. However, no significant effort has been made to design and model a compliant, weight-bearing knee exoskeleton that is suitable for the day-to-day activities but also sports. This paper presents a device capable of reducing the load experienced by the impaired knee. Its series elastic actuator was modeled to aid in the selection of the elastic stiffness (150 kN/m) and test the controller which displayed adequate tracking performance with a maximum provided torque of about 6 Nm. On the other hand, the actuator should be optimized in the future to meet the high torque operation demanded by the simulated biped model. |
| Databáze: | OpenAIRE |
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