Efficient Design of a Torque Actuator for Lower Extremity Exoskeleton Based on Muscle Function Analysis

摘要：

Several lower extremity exoskeletal systems have been developed for augmentation purpose. Common actuators, have important drawbacks such as complexity, and poor torque capacities. The main scope of this research is to propose a series elastic actuator for lower extremity exoskeletal system which was designed based on muscle functional analysis. For this purpose, a biomechanical framework consisting of a musculoskeletal model with ten degrees-of-freedom actuated by eighteen Hill-type musculotendon actuators per leg is utilized to perform the muscle functional analysis for common daily human activities. The simulation study illustrated functional differences between flexor and extensor muscles and the results were utilized for efficient design of the series elastic torque actuator employed in lower extremity exoskeletons.

关键词： Design Torque actuator Exoskeleton Muscle power

作者: S. Safavi A. Selk Ghafari A. Meghdari

作者单位: School of Science and Engineering, Sharif University of Technology InternationalCampus, Kish Island, Center of Excellence in Design, Robotics and Automation, School of Mechanical Engineering, Sharif Un

会议类型: 国际会议

会议名称: 2011 International Conference on Mechatronics and Materials Processing(2011年机电一体化与材料加工国际会议 ICMMP)

会议地点: 广州

会议语种:英文

页码: 1041-1044

在线出版日期: 2011-11-18（万方平台首次上网日期，不代表论文的发表时间）