Design and Validation of Symmetrical Elastic Elements in Series Elastic Actuator

Article Engineering, Mechanical

Design and Validation of a Torque-Controllable Series Elastic Actuator-Based Hip Exoskeleton for Dynamic Locomotion

Inseung Kang et al.

Summary: This study improves the performance of SEA-based exoskeleton systems through holistic design guidelines, considering factors such as dynamic feedback in human-exoskeleton systems and soft tissue damping, and proposes a user state-based feedforward controller for improved low-level torque tracking accuracy.

JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME (2023)

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Article Engineering, Mechanical

Development of Robotic Ankle-Foot Orthosis With Series Elastic Actuator and Magneto-Rheological Brake

Bing Chen et al.

Summary: This study developed a robotic ankle-foot orthosis with SEA and MR brake, and experimental results show that it can provide effective assistance for the ankle joint and improve the efficiency of body gait.

JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME (2021)

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Article Engineering, Mechanical

Design and development of a durable series elastic actuator with an optimized spring topology

Mehmet C. Yildirim et al.

Summary: This paper presents the integrated design, development, and testing procedures for a state-of-the-art torsion-based series elastic actuator. Through a four-fold design approach, optimal torsional spring topology was unveiled, manufactured and experimentally tested, thermal response was scrutinized, and fatigue life of the spring was computed. Favorable torque tracking was achieved with a bandwidth of 19 Hz and peak-to-peak torque input of 20 Nm in preliminary torque control experiments.

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE (2021)

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Proceedings Paper Automation & Control Systems

Design and Control of a Cable-Driven Series Elastic Actuator for Exoskeleton

Letian Ai et al.

Summary: This paper introduces a novel cable-driven series elastic actuator for exoskeleton robots, combining SEA and Bowden cable for compliant actuation of joints. The actuator's design reduces mass and complexity by introducing a torsion spring based on a flexure hinge. Experimental results show improved tracking performance at specific frequencies and torques.

2021 4TH INTERNATIONAL CONFERENCE ON INTELLIGENT AUTONOMOUS SYSTEMS (ICOIAS 2021) (2021)

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Article Automation & Control Systems