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Showing 1 to 20 of 24 for “"Series Elastic Actuators"”.
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Series elastic actuators
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1995.
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Design of Linear Series Elastic Actuators for a Humanoid Robot
Series elastic actuators (SEAs) have numerous benefits for force controlled robotic applications. This thesis presents the design and assembly of a set of compact, lightweight, low-friction linear SEAs for the legs of the Tactical Hazardous Operations Robot (THOR). The THOR SEA pairs a ball screw …
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The Application of Series Elastic Actuators in the Hydraulic Ankle-Foot Orthosis
… the need for a lightweight design, a hydraulic series elastic actuator (HSEA) was explored to determine whether it could be used to design a lightweight powered AFO that meets the high peak power demand of gait. Hydraulic power has excellent power density and the ability to lower the weight of …
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Efficient control of series elastic actuators through the exploitation of resonant modes
… explores the efficiency potential inherent to series elastic actuators during oscillatory tasks. Series elastic actuators have a spring intentionally placed at the actuator output that provides good force resolution and filters out high frequency disturbances from the environment. These …
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Structural Design of a 6-DoF Hip Exoskeleton using Linear Series Elastic Actuators
… of the hip joints powered. Thus, packaging of actuators was also involved in the mechanical design of the hip exoskeleton. As a result, the output torque and speed for the roll joint and yaw joint were calculated. Each hip joint was structurally designed with properly selected bearings, …
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Design and Implementation of a Dual Axis Motor Controller for Parallel and Serial Series Elastic Actuators
… a high performance, custom control solution for series elastic actuators (SEA) in a parallel or serial configuration. In many modern robotics applications, controlling actuator output force accurately and with high bandwidth is extremely important. The series elastic actuator has become popular …
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Design of High-Performance, Dual-Motor Liquid-Cooled, Linear Series Elastic Actuators for a Self-Balancing Exoskeleton
… Due to their many beneficial features, series elastic actuators were utilized to power the joints on the exoskeleton. This thesis details the development of four linear series elastic actuators (LSEA) as part of this project. All 12-degrees of freedom will be powered by one of these four …
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Design, Test, and Evaluation of a High Powered 4 DOF Prosthetic Leg for Transfemoral Amputees
… presented in this paper. The prosthesis utilizes series elastic actuators with high powered hobby grade helicopter motors capable of providing 2880~W of power each for knee and ankle pitch and ankle roll. In addition, a yaw motor with a planetary gearbox combination is used for yaw actuation …
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Vision-Based Force Planning and Voice-Based Human-Machine Interface of an Assistive Robotic Exoskeleton Glove for Brachial Plexus Injuries
… glove with rigid side-mounted linkages driven by Series Elastic Actuators (SEAs) to perform five different types of grasps. In the aspect of force control, data-driven SEA fingertip force prediction methods were developed to assist force control with the Linear Series Elastic Actuators (LSEAs). …
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Design, Development, and Control of an Assistive Robotic Exoskeleton Glove Using Reinforcement Learning-Based Force Planning for Autonomous Grasping
… The development of two distinct types of series elastic actuators, coupled with the creation of two diverse exoskeleton glove designs based on differing mechanisms, constitutes a pivotal aspect of this study. For the exoskeleton glove integrated with series elastic actuators, a …
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Design and Implementation of a Scalable Real-Time Motor Controller Architecture for Humanoid Robots and Exoskeletons
… robots require efficient force control of Series Elastic Actuators (SEA). These control loops often introduce precise timing requirements due to the safety critical nature of the underlying hardware. Also the motor controller needs to run fast and interface with several sensors. The …
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Multimodal series elastic actuator for human-machine interaction with applications in robot-aided rehabilitation
Series elastic actuators (SEAs) are becoming an elemental building block in collaborative robotic systems. They introduce an elastic element between the mechanical drive and the end-effector, making otherwise rigid structures compliant when in contact with humans. Topologically, SEAs are more …
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A novel torsional spring design for knee prostheses and exoskeletons
… design provides a more compact alternative to elastic elements currently used in series elastic actuators. From the presented models, the design dimensions, material, and slot geometry can be parametrized to design springs that meet specific requirements for different applications. In addition …
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Design and Characterization of a Nonlinear Stiffening Spring for a Series-Elastic Ankle-Foot Prosthesis
… replicating the biological motion of human gait. Series elastic actuators improve the prostheses, simulating the function of a biological tendon by storing and releasing energy during gait, reducing the mechanical work required by the motor and transmission system. This thesis aims to describe the …
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Towards Naturalistic Exoskeleton Glove Control for Rehabilitation and Assistance
… glove. The key to accomplishing this is series elastic actuators to move the finger joints, thereby allowing the wearer to deflect against the glove and inform the controller of their intention. These actuators are used to move the fingers in a nine degree of freedom exoskeleton that is …
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Design and Control of a Robotic Exoskeleton Glove Using a Neural Network Based Controller for Grasping Objects
… four-bar linkage mechanisms actuated through series elastic actuators (SEAs) by DC motors. It also contains a novel rotary series elastic actuator (RSEA) which uses a torsion spring to measure torque, passive abduction and adduction mechanisms, and an adjustable base. To make the exoskeleton …
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Mechanical Design of the Legs for OLL-E, a Fully Self-Balancing, Lower-Body Exoskeleton
… six in each leg, using custom design linear series elastic actuators. The placement of these actuators relative to each joint axis, and the geometry of the linkage connecting them, were critical to ensuring each joint was capable of producing the required outputs for self-balancing …
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Design and evaluation of a biomimetic agonist-antagonist active knee prosthesis
… model comprised of a variable damper and two series elastic clutch units spanning the knee joint. The powered knee system is comprised of two series-elastic actuators positioned in parallel in an agonist-antagonist configuration. This investigation hypothesizes that the biomimetic active-knee …
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Application of Co-Design Principles for Design of Series Elastic Joints
… compliance into robotic joints is the use of Series Elastic Actuators (SEAs). Designing SEAs, however, requires balancing the stiffness of the elastic element with the structure and gains of the control system, as both strongly influence actuator bandwidth, disturbance rejection, and overall …
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Dynamic Locomotion and Whole-Body Control for Compliant Humanoids
… a cascaded joint impedance controller for series elastic humanoids with parallel actuation. A distributed controller architecture is implemented using a dual-axis motor controller that computes desired actuator forces and motor currents using simple models of the joint mechanisms and series …
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