Journal
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
Volume 28, Issue 9, Pages 2053-2062Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TNSRE.2020.3010829
Keywords
Task analysis; Actuators; Torque; Exoskeletons; Springs; Dynamics; Friction; Exoskeletons; actuators; parallel elastic actuators; actuator dimensioning; actuator design
Categories
Funding
- Italian Ministry of Education, Universities, and Research (MIUR), through the Dipartimenti di Eccellenza 2018-2022
- European Union's Horizon 2020 Programme under Grant EUROBENCH [779963]
- INAIL
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Selecting actuators for assistive exoskeletons involves decisions in which designers usually face contrasting requirements. While certain choices may depend on the application context or design philosophy, it is generally desirable to avoid oversizing actuators in order to obtain more lightweight and transparent systems, ultimately promoting the adoption of a given device. In many cases, the torque and power requirements can be relaxed by exploiting the contribution of an elastic element acting in mechanical parallel. This contribution considers one such case and introduces a methodology for the evaluation of different actuator choices resulting from the combination of different motors, reduction gears, and parallel stiffness profiles, helping to match actuator capabilities to the task requirements. Such methodology is based on a graphical tool showing how different design choices affect the actuator as a whole. To illustrate the approach, a back-support exoskeleton for lifting tasks is considered as a case study.
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