A Novel Actuator with Reeonfigurable Stiffness for a Knee Exoskeleton:Design and Modeling

摘要：

This paper presents the design of a new inherently compliant actuator intended for the development of a knee exoskeleton. The proposed actuator has the ability to reconfigure the level of stiffness in order to achieve suitable torque-to-angular displacement profiles for different human tasks and users. The design specifications of the actuator have been obtained from motion capture and simulation data of sit-stand-sit motion cycle. The actuator functional principle and modeling are presented. Finally the mechatronic design of the actuator is described.

作者: Nikos C. Karavas Nikos G. Tsagarakis Jody Saglia Darwin G. Galdwell

作者单位: Department of Advanced Robotics, Istituto Italiano di Tecnologia,via Morego 30, 16163 Genova, Italy

会议类型: 国际会议

会议名称: The Second ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robote 第二届ASME/IFTOMM可重构机构与可重构机器人国际大会 ReMAR 2012

会议地点: 天津

会议语种:英文

页码: 411-421

在线出版日期: 2012-07-08（万方平台首次上网日期，不代表论文的发表时间）