Development of compact series elastic actuators for lower limb exoskeletons

• Grant number: 19/23413-5
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Start date: January 01, 2020
• End date: December 31, 2020
• Field of knowledge: Engineering - Mechanical Engineering
• Principal Investigator: Adriano Almeida Gonçalves Siqueira
• Grantee: Fabio Henrique Masetto de Gaitani
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

In this project, a new rotary Series Elastic Actuator (rSEA), more compact and lightweight, will be developed aiming to be coupled to the robotic exoskeleton Exo-TAO (Transparent Active Orthosis), designed and built in the Laboratory of Robotic Rehabilitation from EESC/USP. Such equipment is being developed to aid the rehabilitation of post operatives process and cognitive injuries that affect mobility. It will be used techniques of torque and impedance control to ensure security during the interaction between the user and the exoskeleton, seeking a better performance of the actuator even in the presence of external disturbances and uncertainties of the model. it is intended to obtain experimental results of the proposed controllers on a testbed and during the use of the exoskeleton. (AU)

Scientific publications

(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)

DE GAITANI, F. H. M.; DOS SANTOS, W. M.; SIQUEIRA, A. A. G.. Design and Performance Analysis of a Compact Series Elastic Actuator for Exoskeletons. JOURNAL OF CONTROL AUTOMATION AND ELECTRICAL SYSTEMS, JAN 2022. (19/23413-5, 19/05937-7)