Actuation Requirements for Assistive Exoskeletons: Exploiting Knowledge of Task Dynamics
| Autor: | Stefano Toxiri, Tommaso Poliero, Jesús Ortiz, Darwin G. Caldwell, Andrea Calanca |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Computer science Back support exoskeletons Control engineering 02 engineering and technology 021001 nanoscience & nanotechnology Task (project management) Exoskeleton 020901 industrial engineering & automation Hardware_GENERAL Dynamics (music) Face (geometry) Back support exoskeletons Parallel elastic Actuation Actuation requirements Actuation requirements 0210 nano-technology Actuator Parallel elastic Actuation |
| Zdroj: | Biosystems & Biorobotics ISBN: 9783030018863 |
| DOI: | 10.1007/978-3-030-01887-0_73 |
| Popis: | When selecting actuators for assistive exoskeletons, designers face contrasting requirements. Overdimensioned actuators have drawbacks that compromise their effectiveness in the target application (e.g. performance, weight, comfort). In some cases, the requirements on the powered actuator can be relaxed exploiting the contribution of an elastic element acting in mechanical parallel. This contribution considers one such case and describes an approach to fit the actuation requirements closely to the task dynamics, thereby mitigating the drawbacks of overdimensioned actuators. |
| Databáze: | OpenAIRE |
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