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Showing 1 to 20 of 21 for “"Series elastic actuator"”.
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Synthesis and Design of a Bimodal Rotary Series Elastic Actuator
A novel rotary series elastic actuator (RSEA) with a two-mode, or bimodal, elastic element was designed and tested. This device was developed to eliminate the compromise between human safety and robot performance. Rigid actuators can be dangerous to humans within a robot's workspace due to impacts …
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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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Modeling, Analysis, and Experimental Validation of an Electric Linear Series Elastic Actuator for an Exoskeleton
… high-power, low-weight, and back-driveable actuators. This paper describes the design and analysis of a high-force linear series elastic actuator for a lower body exoskeleton. The actuator is powered by two motors and utilize a liquid cooling system to increase its maximum continuous torque. …
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Design and evaluation of a reaction-force series elastic actuator configurable as biomimetic powered ankle and knee prostheses
… hardware. In this thesis, a reaction-force, series-elastic actuator (RFSEA) is presented that is capable of achieving biomimetic ankle and knee kinetics and kinematics during level-ground walking across a range of body masses, heights and walking styles. The platform is configurable to …
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The Application of Series Elastic Actuators in the Hydraulic Ankle-Foot Orthosis
… the user during gait. A powered AFO uses an actuator and power supply to add positive power to the ankle but becomes heavier as the power output increases. To address the high power requirement and the need for a lightweight design, a hydraulic series elastic actuator (HSEA) was explored to …
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The use of series compliance and variable transmission elements in the design of a powered knee prosthesis
… and evaluate the electrical economy of various actuator architectures. Advanced actuators utilizing variable transmissions with elastic elements were compared to direct drive actuators, series elastic actuators, and two novel mechanisms known as the continuously-variable series-elastic actuator …
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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 and control of an active ankle-foot orthosis
… design and control of a novel discrete nonlinear series elastic actuator for AAFOs. The actuator uses regenerative braking to reduce the peak mechanical input power to the AAFO by 77.2%. To control the designed actuator and AAFO, two methods are proposed. First, an adaptive extended state observer …
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DEVELOPMENT OF A ROBOTIC EXOSKELETON SYSTEM FOR GAIT REHABILITATION
… design. The robotic joint is actuated by a novel series elastic actuator (SEA) which is compliant and force-controllable. A human-robot interaction controller is implemented to accurately and stably control the interactive torque between the robot and human joints. An upper-level control strategy …
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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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A design for self-assembling robots in a system
… purpose, we implemented a newly designed Series Elastic Actuator to limit shock bandwidth by using its compliance and sense forces during manipulative tasks. This thesis introduces a control algorithm, according to design parameters. With the results of dynamic simulations, we developed a …
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Grasp Stability with a Robotic Exoskelton Glove
… of Freedom (DOF) and is actuated by a linear Series Elastic Actuator (SEA). Two methods were developed to satisfy two of the conditions required for a stable grasp. These include deformation prevention of soft objects, and maintaining force and moment equilibrium of the objects being grasped. …
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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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Design and Modeling of Parallel Exoskeleton for Wrist Tremor Suppression
… to the design and control. A linear Series Elastic Actuator is employed, to provide better ergonomic comfortness. This also compensated for the rigidness and absence of back-drivability of a simple Linear actuator. The presented study focuses on providing a fundamental understanding …
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Extending the Capabilities of Time Delayed Haptic Teleoperation Systems
… during environment contact with the use of a series elastic actuator (SEA), investigating alternative HC parameter estimation techniques, and synthesizing an assistive semi-autonomous control framework that predicts user intention recognition and automates gross motion tasks. Experimental …
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Mechatronic and biomechanical considerations toward the design of an ankle clonus simulator
… ankle clonus simulator, based on a series elastic actuator mechanism, that is capable of providing training for administration of an ankle clonus test and therefore substituting the need of human patients. The ankle clonus simulator is intended to accurately mimic the behavior of the …
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Structural Design of a 6-DoF Hip Exoskeleton using Linear Series Elastic Actuators
… will be fully powered by a custom linear actuator for each joint. To date, there are no exoskeleton products that are designed to have all 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 …
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Actuator Optimization and Control of Pediatric Knee Exoskeleton for Community-based Mobility Assistance: More Lightweight, More Affordable, and More Stable
… requirements, yet no prior work investigated actuator optimization to accommodate child growth. Moreover, exoskeletons typically use the torque sensor or spring mechanics as exteroceptive feedback, but these torque sensing methods not only lead to extra cost and mass but also cause a small …
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Design of a Humanoid Robot for Disaster Response
… 65 [kg]. The 12 lower body joints are driven by series elastic linear actuators with multiple joints actuated in parallel. The parallel actuation mimics the human body, where multiple muscles pull on the same joint cooperatively. The legs retain high joint torques throughout their large RoM with …
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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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